Manipulator structure

Abstract

The utility model discloses a manipulator structure, which relates to the technical field of manipulators and comprises a base, a first driving mechanism, a second driving mechanism and a manipulator. An accommodating cavity is formed in the base; the first driving mechanism is arranged in the accommodating cavity; the second driving mechanism movably penetrates through the base in the Z direction, and the second driving mechanism is arranged at the output end of the first driving mechanism; the manipulator is arranged at the output end of the second driving mechanism; wherein the first driving mechanism is configured to drive the second driving mechanism to move in the Z direction, and the second driving mechanism is configured to drive the manipulator to move in the Z direction; according to the technical scheme provided by the utility model, the movement stroke of the manipulator can be increased.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm structure. Background Technology

[0002] Robotic arms, as a type of automated equipment, play an important role in industrial production, especially in processes such as picking up materials and assembling. Four-axis robotic arms, due to their simple structure, low cost, and flexible operation, have been widely used in the field of industrial automation.

[0003] In certain industrial applications, such as wafer placement in the semiconductor industry, robotic arms are required to perform long-distance, multi-layer material placement. However, in existing four-axis robotic arm designs, the Z-axis movement is usually located at the end effector. This design, limited by the size of the robotic arm itself, results in a short effective travel distance in the Z-axis direction. Consequently, traditional four-axis robotic arms cannot meet the requirements for long-distance material placement when performing multi-layer material placement due to travel limitations. This not only affects production efficiency but also limits the application scope of four-axis robotic arms. Utility Model Content

[0004] The main objective of this invention is to propose a robotic arm structure that aims to increase the range of motion of the robotic arm.

[0005] To achieve the above objectives, the present invention proposes a robotic arm structure comprising:

[0006] A base, wherein a receiving cavity is formed within the base;

[0007] A first driving mechanism is disposed within the receiving cavity;

[0008] A second drive mechanism, which is movably disposed along the Z-direction through the base, is located at the output end of the first drive mechanism; and

[0009] The robotic arm is located at the output end of the second drive mechanism;

[0010] The first drive mechanism is configured to drive the second drive mechanism to move along the Z direction, and the second drive mechanism is configured to drive the robot arm to move along the Z direction.

[0011] In one embodiment, the first drive mechanism includes a first drive motor and a first transmission component that are connected by transmission, and the second drive mechanism is located at the output end of the first transmission component.

[0012] In one embodiment, the first transmission assembly includes a transmission belt, a first transmission wheel, a second transmission wheel, a lead screw, and a transmission slider. The first transmission wheel is located at the output end of the first drive motor. The transmission belt connects the first transmission wheel and the second transmission wheel. The lead screw is connected to the second transmission wheel. The transmission slider is sleeved on the lead screw and threadedly connected to the lead screw. The transmission slider is connected to the second drive mechanism.

[0013] In one embodiment, the second drive mechanism includes a second drive motor and a second transmission component that are connected by transmission, and the manipulator is located at the output end of the second transmission component.

[0014] In one embodiment, the robotic arm structure further includes a guide assembly, which includes a guide portion and a mating portion. The guide portion is disposed within the receiving cavity, and the mating portion is movably disposed on the guide portion along the Z direction. The mating portion is connected to the second drive mechanism.

[0015] In one embodiment, the guide portion is a guide rail, the mating portion is a guide slider, the guide slider is slidably disposed on the guide rail, and the guide slider is connected to the second drive mechanism.

[0016] In one embodiment, the guiding assembly includes a plurality of guide rails and a plurality of guide sliders, each guide slider being slidably disposed on a guide rail, and all of the plurality of guide sliders being connected to the second driving mechanism.

[0017] In one embodiment, the robotic arm structure further includes an adapter plate disposed on the second drive mechanism. The adapter plate has multiple connecting portions, and each guide slider is connected to one of the connecting portions.

[0018] In one embodiment, the base includes a lower plate, an upper plate, and a protective cover, the protective cover connecting the lower plate and the upper plate, and the lower plate, the upper plate, and the protective cover enclosing the receiving cavity.

[0019] In one embodiment, the robotic arm structure further includes a photoelectric sensor disposed on the robotic arm.

[0020] In the technical solution of this utility model, the cooperation of the first drive mechanism and the second drive mechanism can increase the travel distance of the robot in the Z direction, allowing the robot to cover a larger working area and improve work efficiency. Furthermore, by placing the first drive mechanism within the receiving cavity of the base and inserting the second drive mechanism through the base, the overall device can be made more compact, reducing space occupation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 A schematic diagram of an embodiment of the robotic arm structure provided by this utility model;

[0023] Figure 2 A schematic diagram of another embodiment of the robotic arm structure (hidden protective cover) provided by this utility model;

[0024] Figure 3 This is a schematic diagram of another embodiment of the robotic arm structure (hidden protective cover) provided by this utility model.

[0025] Explanation of icon numbers:

[0026] 1000. Robotic arm structure; 1. Base; 11. Lower plate; 12. Upper plate; 13. Protective cover; 2. First drive mechanism; 21. First drive motor; 22. Conveyor belt; 23. Lead screw; 24. Transmission slider; 3. Second drive mechanism; 31. Second drive motor; 4. Robotic arm; 5. Guide rail; 6. Guide slider; 7. Adapter plate; 8. Photoelectric sensor.

[0027] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0028] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0029] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0030] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0031] This utility model proposes a robotic arm structure 1000.

[0032] Please see Figures 1 to 3 In one embodiment of the present invention, the robotic arm structure 1000 includes a base 1, a first drive mechanism 2, a second drive mechanism 3, and a robotic arm 4; a receiving cavity is formed in the base 1; the first drive mechanism 2 is disposed in the receiving cavity; the second drive mechanism 3 is movably disposed through the base 1 along the Z direction, and the second drive mechanism 3 is disposed at the output end of the first drive mechanism 2; the robotic arm 4 is disposed at the output end of the second drive mechanism 3; wherein, the first drive mechanism 2 is configured to drive the second drive mechanism 3 to move along the Z direction, and the second drive mechanism 3 is configured to drive the robotic arm 4 to move along the Z direction.

[0033] In this embodiment, the robotic arm 4 is a four-axis robotic arm. In other embodiments, the robotic arm 4 can be a six-axis robotic arm or other types of robotic arms 4. The first drive mechanism 2 can simultaneously drive the second drive mechanism 3 and the robotic arm 4 to move in the Z direction. When the stroke of the first drive mechanism 2 is insufficient, the second drive mechanism 3 can drive the robotic arm 4 to move in the Z direction, thereby extending the activity stroke of the robotic arm 4 in the Z direction.

[0034] In the technical solution of this utility model, the cooperation of the first drive mechanism 2 and the second drive mechanism 3 can increase the travel distance of the robot arm 4 in the Z direction, allowing the robot arm 4 to cover a larger working area and improve work efficiency. Furthermore, by placing the first drive mechanism 2 within the receiving cavity of the base 1 and inserting the second drive mechanism 3 through the base 1, the overall device can be made more compact, reducing space occupation.

[0035] Specifically, in one embodiment of this utility model, please refer to Figure 1The base 1 includes a lower plate 11, an upper plate 12, and a protective cover 13. The protective cover 13 connects the lower plate 11 and the upper plate 12, and the lower plate 11, upper plate 12, and protective cover 13 enclose a receiving cavity. The combination of the lower plate 11, upper plate 12, and protective cover 13 forms a robust frame structure, enhancing the overall stability and durability of the base 1. The design of the protective cover 13 effectively protects the internal first drive mechanism 2 and second drive mechanism 3, reducing the impact of external factors such as dust, debris, and liquids, and extending the service life of the device. Furthermore, the protective cover 13 also has a sound insulation effect, reducing the noise generated by the first drive mechanism 2 and second drive mechanism 3 during operation and improving the working environment.

[0036] Furthermore, in one embodiment of this utility model, the first drive mechanism 2 includes a first drive motor 21 and a first transmission assembly connected by a transmission connection, and the second drive mechanism 3 is disposed at the output end of the first transmission assembly. The transmission connection between the first drive motor 21 and the first transmission assembly can ensure efficient power transmission and reduce energy loss.

[0037] Specifically, in one embodiment of this utility model, please refer to Figure 2 The first transmission assembly includes a transmission belt 22, a first transmission wheel, a second transmission wheel, a lead screw 23, and a transmission slider 24. The first transmission wheel is located at the output end of the first drive motor 21. The transmission belt 22 connects the first transmission wheel and the second transmission wheel. The lead screw 23 is connected to the second transmission wheel. The transmission slider 24 is sleeved on the lead screw 23 and threadedly connected to it. The transmission slider 24 is connected to the second drive mechanism 3. The first drive motor 21 can drive the first transmission wheel to rotate. The first transmission wheel drives the second transmission wheel to rotate via the transmission belt 22. The second transmission wheel drives the lead screw 23 to rotate, thereby driving the transmission slider 24 to perform linear motion. The lower end of the lead screw 23 is connected to the second transmission wheel, and the upper end of the lead screw 23 is rotatably mounted on the upper plate 12. In addition, the outer circumferential surfaces of the first and second transmission wheels are provided with splines, which can provide a larger contact area, thereby enhancing torque transmission capability, reducing the possibility of slippage, and allowing for more effective engagement with the transmission belt 22, reducing energy loss and improving transmission efficiency. Furthermore, by using the transmission belt 22 for transmission, the first drive motor 21 can be set to be parallel to the lead screw 23, thereby making better use of the space inside the base and helping to reduce the height of the base.

[0038] Furthermore, in one embodiment of this utility model, the second drive mechanism 3 includes a second drive motor 31 and a second transmission assembly connected by transmission, and the robot arm 4 is disposed at the output end of the second transmission assembly. The second transmission assembly can transmit power through an electric slide table, or through a gear structure, chain structure, or other structures.

[0039] To ensure the correct movement of the robotic arm 4, in one embodiment of this invention, the robotic arm structure 1000 further includes a guide assembly. The guide assembly includes a guide portion and a mating portion. The guide portion is disposed within the receiving cavity, and the mating portion is movably disposed on the guide portion along the Z-direction. The mating portion is connected to the second drive mechanism 3. The design of the guide portion and the mating portion ensures the precise movement and positioning of the robotic arm 4 along the Z-direction, which is crucial for applications requiring high-precision operation.

[0040] Specifically, in one embodiment of this utility model, please refer to Figure 2 and Figure 3 The guide section is a guide rail 5, and the mating section is a guide slider 6. The guide slider 6 is slidably mounted on the guide rail 5 and is connected to the second drive mechanism 3. The combination of the guide rail 5 and the guide slider 6 can provide precise linear motion control, thereby ensuring the accurate movement and positioning of the robot arm 4 along the Z direction. Furthermore, the design of the guide rail 5 and the guide slider 6 can reduce friction when the robot arm 4 moves along the Z direction, thereby reducing energy consumption and improving motion efficiency. In other embodiments, guidance can also be achieved through the shaft hole mating of a guide rod and a guide hole.

[0041] Furthermore, in one embodiment of this utility model, please refer to... Figure 2 and Figure 3 The guiding assembly includes multiple guide rails 5 and multiple guide sliders 6. Each guide slider 6 is slidably mounted on a guide rail 5, and all guide sliders 6 are connected to the second drive mechanism 3. The design of multiple guide rails 5 and guide sliders 6 can distribute the load from multiple positions, reducing the stress on individual guide rails 5 and sliders, thereby improving the stability of the entire system. Multiple guide rails 5 and guide sliders 6 can provide more uniform and stable support, reducing errors caused by off-center loading of a single guide rail 5 and improving the motion accuracy of the robot arm 4.

[0042] For ease of installation, please refer to one embodiment of this utility model. Figure 2 The robotic arm structure 1000 also includes an adapter plate 7, which is disposed on the second drive mechanism 3. The adapter plate 7 has multiple connecting parts, and each guide slider 6 is connected to one connecting part. The adapter plate 7 provides an intermediate connection point, allowing the guide slider 6 to connect to the second drive mechanism 3 more flexibly, thus improving the overall flexibility of the robotic arm structure 1000. In addition, the adapter plate is also connected to the transmission slider 24 of the first transmission assembly.

[0043] Furthermore, in one embodiment of this utility model, please refer to... Figure 1 The robotic arm structure 1000 also includes a photoelectric sensor 8, which is located on the robotic arm 1. The photoelectric sensor 8 can detect whether the material is placed in the correct position during the up-and-down movement of the robotic arm 4. The photoelectric sensor 8 is preferably a reflective photoelectric sensor 8.

[0044] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robotic arm structure, characterized in that, include: A base, wherein a receiving cavity is formed within the base; A first driving mechanism is disposed within the receiving cavity; The second drive mechanism is movably disposed in the base along the Z direction and is located at the output end of the first drive mechanism; as well as The robotic arm is located at the output end of the second drive mechanism; The first drive mechanism is configured to drive the second drive mechanism to move along the Z direction, and the second drive mechanism is configured to drive the robot arm to move along the Z direction.

2. The robotic arm structure as described in claim 1, characterized in that, The first driving mechanism includes a first driving motor and a first transmission component that are connected by transmission, and the second driving mechanism is located at the output end of the first transmission component.

3. The robotic arm structure as described in claim 2, characterized in that, The first transmission assembly includes a transmission belt, a first transmission wheel, a second transmission wheel, a lead screw, and a transmission slider. The first transmission wheel is located at the output end of the first drive motor. The transmission belt connects the first transmission wheel and the second transmission wheel. The lead screw is connected to the second transmission wheel. The transmission slider is sleeved on the lead screw and threadedly connected to the lead screw. The transmission slider is connected to the second drive mechanism.

4. The robotic arm structure as described in claim 1, characterized in that, The second drive mechanism includes a second drive motor and a second transmission assembly connected by transmission, and the manipulator is located at the output end of the second transmission assembly.

5. The robotic arm structure as described in claim 1, characterized in that, The robotic arm structure also includes a guide assembly, which includes a guide portion and a mating portion. The guide portion is disposed within the receiving cavity, and the mating portion is movably disposed on the guide portion along the Z direction. The mating portion is connected to the second drive mechanism.

6. The robotic arm structure as described in claim 5, characterized in that, The guide part is a guide rail, the mating part is a guide slider, the guide slider is slidably disposed on the guide rail, and the guide slider is connected to the second drive mechanism.

7. The robotic arm structure as described in claim 6, characterized in that, The guiding assembly includes multiple guide rails and multiple guide sliders, each guide slider being slidably disposed on one of the guide rails, and all of the multiple guide sliders being connected to the second driving mechanism.

8. The robotic arm structure as described in claim 7, characterized in that, The robotic arm structure also includes an adapter plate, which is disposed on the second drive mechanism. The adapter plate has multiple connecting parts, and each guide slider is connected to one of the connecting parts.

9. The robotic arm structure as described in claim 1, characterized in that, The base includes a lower plate, an upper plate, and a protective cover. The protective cover connects the lower plate and the upper plate, and the lower plate, the upper plate, and the protective cover together form the receiving cavity.

10. The robotic arm structure as described in claim 1, characterized in that, The robotic arm structure also includes a photoelectric sensor, which is disposed on the robotic arm.

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