Mechanical arm for substrate assembly

Abstract

The utility model belongs to the technical field of substrate assembly, and particularly relates to a mechanical arm for substrate assembly, which comprises a U-shaped fixing frame. A steering engine is arranged in the U-shaped fixing frame; the end part of the U-shaped fixing frame is fixedly connected with a fixing disc; a first driving motor is fixedly connected to the side walls of the two fixing discs, a driving gear is fixedly connected to the output end of the first driving motor, and the driving gear is connected with a driven gear; the side walls of the multiple driven gears are fixedly connected with fixed protruding blocks. The ends, away from the driven gear, of the multiple fixed protruding blocks are rotationally connected with grabbing blocks. By arranging the two fixing discs in parallel, respective operation of the two clamping assemblies is achieved, the flexibility of the mechanical arm is improved, the clamping problem of some substrates in asymmetric shapes is solved, meanwhile, the function is achieved, meanwhile, the relatively simple structure is maintained, the manufacturing cost is reduced, and the mechanical arm is suitable for large-scale popularization and application. And the maintenance cost and the maintenance difficulty are reduced.

Description

Technical Field

[0001] This utility model belongs to the field of substrate assembly technology, specifically a robotic arm for substrate assembly. Background Technology

[0002] Robotic arms are the most widely used automated mechanical devices in the field of robotics. They can be found in fields such as industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. Robotic arms can receive instructions and accurately position themselves at a point in three-dimensional or two-dimensional space to perform tasks.

[0003] Existing robotic arms for substrate assembly often use suction cups to grip substrates, thereby achieving automated substrate assembly. However, suction cups cannot grip some large and heavy substrates stably, and they also cannot grip substrates with missing smooth areas or many through holes, which is not conducive to widespread use.

[0004] Therefore, this utility model provides a robotic arm for substrate assembly. Utility Model Content

[0005] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0006] The technical solution adopted by this utility model to solve its technical problem is as follows: A robotic arm for substrate assembly, comprising a U-shaped fixed frame; a servo motor is disposed inside the U-shaped fixed frame; a fixed disk is fixedly connected to the end of the U-shaped fixed frame, and the two fixed disks are arranged in parallel; a first drive motor is fixedly connected to the side wall of the two fixed disks, and a drive gear is fixedly connected to the output end of the first drive motor, the drive gear is connected to a driven gear, and the driven gear is connected to another driven gear; a plurality of driven gears are rotatably connected to the side wall of the fixed disk, and a fixing protrusion is fixedly connected to the side wall of the plurality of driven gears; a gripping block is rotatably connected to the end of the plurality of fixing protrusions away from the driven gear, and a connecting block is rotatably connected between the gripping block and the fixed disk; this step realizes the operation of two sets of clamping components by arranging the two fixed disks in parallel, which improves the flexibility of the robotic arm and helps to solve the clamping problem of some asymmetrical substrates. At the same time, while realizing the function, it maintains a relatively simple structure, which helps to reduce manufacturing costs and maintenance costs and difficulties.

[0007] Preferably, a hydraulic telescopic rod is fixedly connected to the side wall of the servo motor; a first fixing block is fixedly connected to the end of the hydraulic telescopic rod away from the servo motor, and a first housing is provided on the side wall of the first fixing block; a second drive motor is fixedly connected inside the first housing, and the first fixing block is fixedly connected to the output end of the second drive motor; a main arm is fixedly connected to the bottom of the first housing; a second fixing block is provided at the bottom of the main arm, and a second housing is provided on the side wall of the second fixing block; a fourth drive motor is provided inside the second housing, and the second fixing block is fixedly connected to the output end of the fourth drive motor; this step, by setting the second drive motor and the fourth drive motor, further increases the flexibility of the robotic arm for substrate assembly, which is beneficial for solving the problem of automated substrate assembly in some complex scenarios, saving labor costs, and improving substrate assembly efficiency.

[0008] Preferably, a base is provided at the bottom of the second chassis; a third drive motor is fixedly connected inside the base, and a threaded rod is provided at the output end of the third drive motor; a base gear is engaged on the side wall of the threaded rod, and the base gear is located at the bottom of the second chassis; this step realizes the rotation of the second chassis by setting the third drive motor, thereby realizing the overall rotation of the robotic arm for assembling the substrate, improving the structural composition of the robotic arm, helping to solve the angle adjustment problem in the practical stage of the robotic arm, and enhancing the site adaptability of the unloading arm.

[0009] Preferably, a second connecting plate is fixedly connected to the bottom of the main arm, and a second connecting plate is fixedly connected to the top of the second fixing block, with bolts provided between the two second connecting plates; a first connecting plate is fixedly connected to the bottom of the second housing, and a first connecting plate is fixedly connected to the top of the base gear, with bolts provided between the two first connecting plates; this step, by setting the first connecting plate and the second connecting plate to connect the main arm and the second fixing block, and to connect the second housing and the base gear, improves the structural flexibility of the robotic arm, provides convenience for the daily maintenance work of the staff, and helps to improve maintenance efficiency.

[0010] Preferably, the ends of the plurality of gripping blocks are provided with clamping blocks, and the side walls of the clamping blocks are fixedly connected with fixing plates, and two fixing plates are provided correspondingly; bolts are provided between the two fixing plates and the gripping blocks; this step clamps the substrate by setting clamping blocks, and the setting of fixing plates enables flexible assembly of clamping blocks, which helps to avoid damage to the substrate caused by rigid mechanical structures and helps to maintain the substrate assembly quality.

[0011] Preferably, a fixed shaft is fixedly connected to the top of the fixed disk, and two fixed shafts are correspondingly arranged; a nut is provided on the top of the fixed shaft; a fixed groove is provided inside the U-shaped fixed frame, and the fixed groove is set to correspond to the size of the fixed shaft; this step connects the fixed disk and the U-shaped fixed frame by setting the fixed shaft, and the fixed disk position is adjustable by setting the fixed groove, which improves the flexibility and applicability of the robotic arm, helps to improve the efficiency of substrate assembly, and provides convenience for the maintenance work of the staff.

[0012] Preferably, the U-shaped fixed frame, hydraulic telescopic rod, first fixed block, first housing, main arm, second fixed block, second housing, and base are made of aluminum alloy. This step reduces the overall weight of the robotic arm and maintains its structural strength by using aluminum alloy for the U-shaped fixed frame, hydraulic telescopic rod, first fixed block, first housing, main arm, second fixed block, second housing, and base, which is also beneficial for keeping the surface of the robotic arm clean.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. The robotic arm for substrate assembly described in this utility model realizes the operation of two sets of clamping components by setting two fixed disks in parallel, which improves the flexibility of the robotic arm and helps to solve the clamping problem of some asymmetrical substrates. At the same time, while realizing the function, it maintains a relatively simple structure, which helps to reduce manufacturing costs and maintenance costs and difficulties.

[0015] 2. The robotic arm for substrate assembly described in this utility model, by setting a second drive motor and a fourth drive motor, further increases the flexibility of the robotic arm for substrate assembly, which is beneficial to solving the problem of automated substrate assembly in some complex scenarios, saving labor costs, and improving substrate assembly efficiency. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 This is a perspective view of the present invention;

[0018] Figure 2 This is a schematic diagram of the base structure in this utility model;

[0019] Figure 3 This is a schematic diagram of the gripper block in this utility model;

[0020] Figure 4 This is a structural schematic diagram of the U-shaped fixing frame in this utility model.

[0021] In the diagram: 1. U-shaped fixed frame; 2. Servo motor; 3. Fixed plate; 4. First drive motor; 5. Drive gear; 6. Driven gear; 7. Fixed protrusion; 8. Connecting block; 9. Grip block; 10. Clamping block; 11. Fixed plate; 12. Hydraulic telescopic rod; 13. First fixed block; 14. First housing; 15. Second drive motor; 16. Main arm; 17. Second fixed block; 18. Second housing; 19. Base; 20. Third drive motor; 21. Threaded rod; 22. Base gear; 23. First connecting plate; 24. Second connecting plate; 25. Fixed slide groove; 26. Fixed shaft. Detailed Implementation

[0022] 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 skilled in the art without creative effort are within the protection scope of the present utility model.

[0023] Specific implementation examples are given below.

[0024] like Figure 1 , Figure 3 and Figure 4As shown in the figure, a robotic arm for substrate assembly according to an embodiment of the present invention includes a U-shaped fixed frame 1; a servo motor 2 is disposed inside the U-shaped fixed frame 1; a fixed disk 3 is fixedly connected to the end of the U-shaped fixed frame 1, and the two fixed disks 3 are arranged in parallel; a first drive motor 4 is fixedly connected to the side wall of the two fixed disks 3, and a drive gear 5 is fixedly connected to the output end of the first drive motor 4, the drive gear 5 is geared to a driven gear 6, and the driven gear 6 is geared to another driven gear 6; multiple driven gears 6 are rotatably connected to the side wall of the fixed disk 3, and fixing protrusions 7 are fixedly connected to the side wall of the multiple driven gears 6; a gripping block 9 is rotatably connected to the end of the multiple fixing protrusions 7 away from the driven gear 6, and a connecting block 8 is rotatably connected between the gripping block 9 and the fixed disk 3; during operation, the operator can drive the two first drive motors 4 to realize corresponding control of the two sets of corresponding gripping blocks 9. During the process, whenever one of the first drive motors 4 is driven, the drive gear 5 connected to it will rotate. This drives the driven gear 6, which is connected to the driving gear 5, to rotate synchronously. As the driven gear 6 rotates, another driven gear 6, connected to the same driven gear 6, will also rotate synchronously in the opposite direction. With the synchronous counter-rotation of the two driven gears 6, the fixed protrusions 7, fixed to their side walls, will move along symmetrical trajectories. Finally, the gripper 9, rotatably connected to the end of the fixed protrusion 7, will perform the clamping action required for substrate assembly under the constraint of the connecting block 8. The fixed disk 3 serves to fix multiple components. The operator can drive the servo motor 2 inside the U-shaped fixed frame 1 to rotate the U-shaped fixed frame 1 and its connected components as a whole. This step, by setting two fixed disks 3 in parallel, enables the independent operation of two sets of clamping components, improving the flexibility of the robotic arm and helping to solve the clamping problem of some asymmetrical substrates. At the same time, while achieving the function, it maintains a relatively simple structure, which helps reduce manufacturing costs and maintenance costs and difficulties.

[0025] like Figure 1 and Figure 2As shown, a hydraulic telescopic rod 12 is fixedly connected to the side wall of the servo motor 2; a first fixing block 13 is fixedly connected to the end of the hydraulic telescopic rod 12 away from the servo motor 2, and a first housing 14 is provided on the side wall of the first fixing block 13; a second drive motor 15 is fixedly connected inside the first housing 14, and the first fixing block 13 is fixedly connected to the output end of the second drive motor 15; a main arm 16 is fixedly connected to the bottom of the first housing 14; a second fixing block 17 is provided at the bottom of the main arm 16, and a second housing 18 is provided on the side wall of the second fixing block 17; a fourth drive motor is provided inside the second housing 18, and the second fixing block 17 is fixedly connected to the output end of the fourth drive motor; during operation, in addition to using the servo motor 2 to rotate the two U-shaped fixed frames 1 and adjacent components of the U-shaped fixed frames 1, the operator can also control the position of the U-shaped fixed frames 1 through the hydraulic telescopic rod 12. At the same time, the operator can drive the first... The second drive motor 15 inside the chassis 14 causes the first fixed block 13, which is fixedly connected to the output end of the second drive motor 15, to rotate, thereby driving the hydraulic telescopic rod 12, the servo motor 2, the U-shaped fixed frame 1, and the assembly connected to the U-shaped fixed frame 1 to rotate as a whole. At the same time, the operator can also drive the fourth drive motor located inside the second chassis 18, thereby causing the second fixed block 17, which is fixedly connected to the output end of the fourth drive motor, to rotate, thereby driving the main arm 16, the first chassis 14, the first fixed block 13, the hydraulic telescopic rod 12, the servo motor 2, the U-shaped fixed frame 1, and the assembly connected to the U-shaped fixed frame 1 to rotate as a whole. This step, by setting the second drive motor 15 and the fourth drive motor, further increases the flexibility of the robotic arm for assembling the substrate, which is conducive to solving the problem of automated assembly of substrates in some complex scenarios, saving labor costs, and improving the efficiency of substrate assembly.

[0026] like Figure 2 As shown, a base 19 is provided at the bottom of the second housing 18; a third drive motor 20 is fixedly connected inside the base 19, and a threaded rod 21 is provided at the output end of the third drive motor 20; a base gear 22 is meshed on the side wall of the threaded rod 21, and the base gear 22 is located at the bottom of the second housing 18; during operation, the operator can drive the third drive motor 20 located inside the base 19, thereby causing the threaded rod 21 located at the output end of the third drive motor 20 to rotate, and with the rotation of the threaded rod 21, the base gear 22 meshing with the threaded rod 21 will also rotate, further driving the second housing 18 to rotate; this step realizes the rotation of the second housing 18 by setting the third drive motor 20, thereby realizing the overall rotation of the robotic arm for assembling the substrate, improving the structural composition of the robotic arm, helping to solve the angle adjustment problem in the practical stage of the robotic arm, and enhancing the site adaptability of the unloading arm.

[0027] like Figure 1 and Figure 2As shown, a second connecting plate 24 is fixedly connected to the bottom of the main arm 16, and a second connecting plate 24 is fixedly connected to the top of the second fixing block 17, with bolts between the two second connecting plates 24; a first connecting plate 23 is fixedly connected to the bottom of the second housing 18, and a first connecting plate 23 is fixedly connected to the top of the base gear 22, with bolts between the two first connecting plates 23; during operation, the operator can remove multiple bolts between the two second connecting plates 24 to disconnect the connection between the two second connecting plates 24, and the operator can remove multiple bolts between the two first connecting plates 23 to disconnect the connection between the two first connecting plates 23; this step, by setting the first connecting plate 23 and the second connecting plate 24 to connect the main arm 16 and the second fixing block 17, and to connect the second housing 18 and the base gear 22, improves the structural flexibility of the robotic arm, provides convenience for the operator's daily maintenance work, and helps to improve maintenance efficiency.

[0028] like Figure 3 As shown, clamping blocks 10 are provided at the ends of multiple gripping blocks 9, and fixing plates 11 are fixedly connected to the side walls of the clamping blocks 10, with two fixing plates 11 correspondingly arranged; bolts are provided between the two fixing plates 11 and the gripping blocks 9; during operation, the operator can install the clamping blocks 10 at the ends of the multiple gripping blocks 9 using the bolts. During the process, the operator can tighten the bolts to make the corresponding fixing plates 11 fit tightly with the gripping blocks 9, thereby completing the fixing of the clamping blocks 10; this step uses clamping blocks 10 to clamp the substrate, and uses fixing plates 11 to achieve flexible assembly of clamping blocks 10, which helps to avoid damage to the substrate caused by rigid mechanical structures and helps to maintain the substrate assembly quality.

[0029] like Figure 4 As shown, a fixed shaft 26 is fixedly connected to the top of the fixed disk 3, and two fixed shafts 26 are correspondingly arranged; a nut is provided on the top of the fixed shaft 26; a fixed slide groove 25 is provided inside the U-shaped fixed frame 1, and the fixed slide groove 25 is set to correspond to the size of the fixed shaft 26; during operation, the operator can release the locking of the fixed shaft 26 by tightening the nut, so that the fixed disk 3 can slide freely within the range of the fixed slide groove 25. The operator can first adjust the position of the fixed disk 3, and then tighten the nut at the end of the fixed shaft 26 into the fixed slide groove 25; this step connects the fixed disk 3 and the U-shaped fixed frame 1 by setting the fixed shaft 26, and the fixed slide groove 25 makes the position of the fixed disk 3 adjustable, improving the flexibility and applicability of the robotic arm, which is conducive to improving the efficiency of substrate assembly, and at the same time provides convenience for the operator's maintenance work.

[0030] like Figure 1As shown, the U-shaped fixed frame 1, hydraulic telescopic rod 12, first fixed block 13, first housing 14, main arm 16, second fixed block 17, second housing 18, and base 19 are made of aluminum alloy. During operation, the aluminum alloy U-shaped fixed frame 1, hydraulic telescopic rod 12, first fixed block 13, first housing 14, main arm 16, second fixed block 17, second housing 18, and base 19 can take advantage of their high strength and low density. This step reduces the overall mass of the robotic arm by using aluminum alloy for the U-shaped fixed frame 1, hydraulic telescopic rod 12, first fixed block 13, first housing 14, main arm 16, second fixed block 17, second housing 18, and base 19, maintains its structural strength, and helps keep the surface of the robotic arm clean.

[0031] During operation, the operator can drive two first drive motors 4 to control the corresponding grippers 9 of the two sets. When one of the first drive motors 4 is driven, the drive gear 5 connected to it rotates, causing the driven gear 6 connected to it to rotate synchronously. Simultaneously, the other driven gear 6 connected to it rotates synchronously in the opposite direction. With the synchronous counter-rotation of the two driven gears 6, the fixed protrusions 7 fixed to their sidewalls move along symmetrical trajectories. Finally, the grippers 9 rotatably connected to the ends of the fixed protrusions 7, constrained by the connecting block 8, achieve the clamping required for substrate assembly. In this operation, the fixed plate 3 serves to fix multiple components. The operator can drive the servo motor 2, located inside the U-shaped fixed frame 1, to rotate the U-shaped fixed frame 1 and its connected components. Besides using the servo motor 2 to rotate the two U-shaped fixed frames 1 and their adjacent components, the operator can also control the position of the U-shaped fixed frame 1 via the hydraulic telescopic rod 12. Simultaneously, the operator can drive the second drive motor 15, located inside the first housing 14, to rotate the first fixed block 13, which is fixedly connected to the output end of the second drive motor 15. This, in turn, drives the hydraulic telescopic rod 12, the servo motor 2, the U-shaped fixed frame 1, and its connected components to rotate as a whole. The operator can also drive... The fourth drive motor, located inside the second housing 18, causes the second fixed block 17, which is fixedly connected to the output end of the fourth drive motor, to rotate. This, in turn, drives the main arm 16, the first housing 14, the first fixed block 13, the hydraulic telescopic rod 12, the servo motor 2, the U-shaped fixed frame 1, and the assembly connected to the U-shaped fixed frame 1 to rotate as a whole. The operator can then drive the third drive motor 20, located inside the base 19, causing the threaded rod 21, located at the output end of the third drive motor 20, to rotate. As the threaded rod 21 rotates, the base gear 22 meshing with it also rotates, further driving the second housing 18 to rotate. The operator can then remove the multiple screws between the two second connecting plates 24. The bolts are removed to disconnect the two second connecting plates 24. The operator can then remove multiple bolts between the two first connecting plates 23, thus disconnecting the two first connecting plates 23. The operator can then install clamping blocks 10 at the ends of the multiple gripping blocks 9 using the bolts. During this process, the operator can tighten the bolts to ensure a tight fit between the corresponding fixing plate 11 and the gripping block 9, thereby fixing the clamping block 10. The operator can then release the locking of the fixing shaft 26 by tightening the nut, allowing the fixing plate 3 to slide freely within the fixing groove 25. The operator can first adjust the position of the fixing plate 3, and then tighten the nut at the end of the fixing shaft 26 within the fixing groove 25.The U-shaped fixing frame 1, hydraulic telescopic rod 12, first fixing block 13, first housing 14, main arm 16, second fixing block 17, second housing 18, and base 19, all made of aluminum alloy, can leverage their advantages of high strength and low density.

[0032] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A mechanical arm for assembling substrates, comprising a U-shaped fixed frame (1); characterized in that: The inside of the U-shaped fixed frame (1) is provided with a rudder (2); the end of the U-shaped fixed frame (1) is fixedly connected with a fixed disc (3), and two fixed discs (3) are arranged in parallel; the side wall of two fixed discs (3) is fixedly connected with a first drive motor (4), the output end of the first drive motor (4) is fixedly connected with a driving gear (5), the driving gear (5) is gear connected with a driven gear (6), and another driven gear (6) is gear connected with the driven gear (6); a plurality of driven gears (6) are rotatably connected on the side wall of the fixed disc (3), and a plurality of fixed lugs (7) are fixedly connected on the side wall of the driven gear (6); the end of the plurality of fixed lugs (7) away from the driven gear (6) is rotatably connected with a grab block (9), and the grab block (9) and the fixed disc (3) are rotatably connected with a connecting block (8).

2. The substrate assembly robot according to claim 1, wherein: The side wall of the rudder (2) is fixedly connected with a hydraulic telescopic rod (12); the end of the hydraulic telescopic rod (12) away from the rudder (2) is fixedly connected with a first fixed block (13), and the side wall of the first fixed block (13) is provided with a first machine box (14); the inside of the first machine box (14) is fixedly connected with a second drive motor (15), and the output end of the second drive motor (15) is fixedly connected with the first fixed block (13), and the bottom of the first machine box (14) is fixedly connected with a main arm (16); the bottom of the main arm (16) is provided with a second fixed block (17), and the side wall of the second fixed block (17) is provided with a second machine box (18); the inside of the second machine box (18) is provided with a fourth drive motor, and the output end of the fourth drive motor is fixedly connected with the second fixed block (17).

3. The substrate assembly robot according to claim 2, wherein: The bottom of the second machine box (18) is provided with a base (19); the inside of the base (19) is fixedly connected with a third drive motor (20), and the output end of the third drive motor (20) is provided with a threaded rod (21); the side wall of the threaded rod (21) is engaged with a base gear (22), and the base gear (22) is arranged at the bottom of the second machine box (18).

4. The substrate assembly robot according to claim 3, wherein: The bottom of the main arm (16) is fixedly connected with a second connecting plate (24), the bottom of the second fixed block (17) is fixedly connected with a second connecting plate (24), and a bolt is arranged between two second connecting plates (24); the bottom of the second machine box (18) is fixedly connected with a first connecting plate (23); the top of the base gear (22) is fixedly connected with a first connecting plate (23), and a bolt is arranged between two first connecting plates (23).

5. The substrate assembly robot of claim 1, wherein: The end of a plurality of grab blocks (9) is provided with a clamping block (10), and the side wall of the clamping block (10) is fixedly connected with a fixed plate (11), and two fixed plates (11) are arranged correspondingly; a bolt is arranged between two fixed plates (11) and the grab block (9).

6. The substrate assembly robot according to claim 1, wherein: The top of the fixed disc (3) is fixedly connected with a fixed shaft (26), and two fixed shafts (26) are correspondingly arranged; the top of the fixed shaft (26) is provided with a nut; the inside of the U-shaped fixed frame (1) is provided with a fixed sliding groove (25), and the size of the fixed sliding groove (25) is arranged in correspondence with the fixed shaft (26).

7. The substrate assembly robot of claim 1, wherein: The U-shaped fixed frame (1), the hydraulic telescopic rod (12), the first fixed block (13), the first machine box (14), the main arm (16), the second fixed block (17), the second machine box (18) and the base (19) are made of aluminum alloy material.

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