Pick-up articulated arm
By designing a multi-joint pickup arm, combined with magnetic connection and optical positioning, the efficiency and accuracy problems of small and medium-sized chip enterprises in picking up chips have been solved, realizing efficient and low-cost automated pickup.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-14
- Publication Date
- 2026-03-13
AI Technical Summary
Small and medium-sized chip enterprises face problems such as low manual efficiency, low yield rate, and high cost of automated equipment when picking up chips. Existing automated equipment is not suitable for the development needs of small and medium-sized enterprises.
A pickup articulated arm was designed, comprising a base, a lifting and rotating mechanism, a main articulated arm mechanism, and a pickup mechanism. Through the high degree of freedom of rotation and precise positioning of the multi-articulated arm, combined with technologies such as magnetic connection, optical positioning device, and vacuum adsorption, high-precision pickup is achieved.
It improves pickup accuracy and efficiency, reduces equipment costs, adapts to different heights and operating areas, reduces the risk of pickup failure and chip damage due to positional deviation, and improves production efficiency.
Smart Images
Figure CN223989519U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotic arm technology, and more specifically, to a picking articulated arm. Background Technology
[0002] Currently, small and medium-sized chip companies in China tend to rely heavily on manual labor when performing certain processes. While this method has certain advantages in small-batch production, the drawbacks of manual labor become more pronounced once the production volume increases significantly. For example, frequent repetitive operations increase human fatigue, leading to low picking efficiency, and the vibrations generated when manually placing chips can affect the chip yield. In view of these issues, some large companies have begun to purchase automated equipment for chip picking in small batches. However, such equipment requires high precision and is expensive, making it unsuitable for the early development plans of small and medium-sized enterprises. Utility Model Content
[0003] The purpose of this application is to provide a pickup articulated arm that improves pickup accuracy while reducing costs.
[0004] The pickup arm provided in this application includes a base, a lifting and rotating mechanism, a main joint arm mechanism, and a pickup mechanism. The lifting and rotating mechanism is fixed on the base and connected to the main joint arm mechanism. The lifting and rotating mechanism is used to move in the vertical direction and drive the main joint arm mechanism to rotate in the horizontal direction. The main joint arm mechanism includes a first joint arm, a second joint arm, and a third joint arm. The head end of the first joint arm is rigidly connected to the lifting and rotating mechanism. The first joint arm, the second joint arm, and the third joint arm are sequentially hinged end-to-end. The second joint arm can rotate around the horizontal axis, and the third joint arm can rotate around the central axis of the second joint arm and also around the horizontal axis. The pickup mechanism is hinged to the end of the third joint arm and can rotate freely around the end of the third joint arm. The pickup mechanism is used to position and pick up the object to be picked up.
[0005] In the above scheme, after the picking mechanism locates the object to be picked up in space, the main joint arm can rotate flexibly with high degree of freedom through three joint arms, and can accurately pinpoint the location of the object to be picked up, and complete the task through the picking action of the picking mechanism.
[0006] As an optional embodiment, the lifting and rotating mechanism includes a lifting support rod and a lifting rotating platform; the lower part of the lifting support rod is rigidly connected to the base, the upper extended end of the lifting support rod is a groove structure, the lifting rotating platform is provided with concave grooves around its periphery, the concave grooves and the groove structure form a rolling bearing through ball bearings, and the top of the lifting rotating platform is rigidly connected to the first end of the first joint arm.
[0007] In the above scheme, the lifting and rotating mechanism realizes the overall height adjustment of the main articulated arm through the lifting support rod, so that the articulated arm can adapt to work platforms or operating areas of different heights. The lifting and rotating table can rotate 360°, which greatly increases the range of motion of the articulated arm in the horizontal direction and covers a larger working area. The groove of the lifting support rod and the concave groove of the lifting and rotating table form a rolling bearing through ball bearings, which makes the lifting support rod more stable during height adjustment, reduces vibration or shaking caused by height changes, and thus improves the stability of operation.
[0008] As an alternative, the pickup mechanism includes a master disk, a positioning compensation probe, and a pickup probe; the master disk is magnetically connected to the positioning compensation probe and the pickup probe.
[0009] In the above solution, by calibrating the positioning compensation probe, the articulated arm can achieve higher positioning accuracy when picking up chips, reducing the risk of pickup failure or chip damage due to positional deviation. The magnetic connection method allows for quick installation and removal of the positioning compensation probe and the pickup probe, facilitating rapid replacement according to different types of objects to be picked up or operational requirements, thereby improving production efficiency.
[0010] As an optional approach, the positioning compensation probe includes a first magnetic surface, a first probe, and a probe; the first probe has a hollow structure, the upper part of the first probe is the first magnetic surface, and the lower part of the first probe is connected to the probe.
[0011] In the above scheme, the probe can accurately determine the position coordinates of the object to be picked up, and compensate for minor position deviations caused by mechanical errors, environmental changes or other factors, thereby ensuring that the picking probe can accurately reach the picking point.
[0012] Alternatively, the upper and middle parts of the first probe are wrapped with insulating adhesive.
[0013] In the above solution, the insulating adhesive can effectively isolate the electrical connection between the first probe and external conductive components or the environment, reduce the impact of external electromagnetic interference on the signal transmission inside the probe, prevent equipment failure caused by poor contact or accidental short circuit, and ensure the normal operation of the probe's internal circuitry.
[0014] As an alternative, the pickup probe includes a second magnetic surface, a second probe, and a pickup suction cup; the second probe has a hollow structure, the upper part of the second probe is the second magnetic surface, the lower part of the second probe is connected to the pickup suction cup, and an airway is provided on the side of the second probe, which communicates with the internal airway of the second probe.
[0015] In the above scheme, the pickup suction cup is connected to the airway through the second probe. By controlling the airflow, the pickup probe can pick up quickly and accurately in a high-precision environment, reducing pickup failures caused by unstable airflow or insufficient suction.
[0016] Alternatively, the upper and middle parts of the second probe are wrapped with insulating adhesive.
[0017] In the above solution, the insulating adhesive can effectively isolate the electrical connection between the second probe and external conductive components or the environment, reduce the impact of external electromagnetic interference on the signal transmission inside the probe, prevent equipment failure caused by poor contact or accidental short circuit, and ensure the normal operation of the internal circuit.
[0018] As an alternative, the pickup mechanism includes an optical positioning device and a high-speed camera.
[0019] In the above scheme, the optical positioning device and high-speed camera can provide high-precision visual feedback. Through image processing and analysis technology, the position, direction and posture of the object to be picked up can be accurately identified, so that the picking mechanism can dynamically adjust its position and posture during the picking process to ensure that each picking operation can be completed accurately.
[0020] As an alternative, the optical positioning device includes an infrared light source and a position sensor.
[0021] In the above scheme, the infrared light source can provide stable infrared light, which makes the image of the object to be picked up under infrared light have higher contrast and clarity, which helps the position sensor to more accurately identify the position, direction and attitude of the object to be picked up, thereby improving the positioning accuracy.
[0022] As an alternative, the base has at least one groove at its bottom for placing a suction cup, the suction cup has a slot on its body, and the suction cup slot has an annular groove for compensating for horizontal height.
[0023] In the above solution, the vacuum adsorption of the suction cup and the design of the groove can effectively reduce the vibration during the operation of the articulated arm and improve the stability of the equipment operation. The annular groove can compensate for the slight unevenness or height difference on the surface of the operating platform and achieve stable adsorption.
[0024] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. Attached Figure Description
[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0026] Figure 1 This is a schematic diagram of a pickup articulated arm provided in an embodiment of this application;
[0027] Figure 2 This is a schematic diagram of the structure of a lifting support rod provided in an embodiment of this application;
[0028] Figure 3 This is a schematic diagram of the structure of a lifting and rotating platform provided in an embodiment of this application;
[0029] Figure 4 This is a schematic diagram of the structure of a master disk provided in an embodiment of this application;
[0030] Figure 5 This is a schematic diagram of the structure of a positioning compensation probe provided in an embodiment of this application;
[0031] Figure 6 This is a schematic diagram of the structure of a pickup probe provided in an embodiment of this application;
[0032] Figure 7 This is a schematic diagram of the structure of a pickup mechanism provided in an embodiment of this application;
[0033] Figure 8 This is a schematic diagram of the structure of a suction cup provided in an embodiment of this application;
[0034] Figure 9 This is a partial structural schematic diagram of a rotating shaft mechanism provided in an embodiment of this application. Detailed Implementation
[0035] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.
[0036] It should be noted that all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.
[0037] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.
[0038] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.
[0039] Reference Figure 1 , Figure 1 This is a schematic diagram of a pickup articulated arm provided in an embodiment of this application. The pickup articulated arm includes a base 10, a lifting and rotating mechanism 20, a main articulated arm mechanism 30, and a pickup mechanism 40. The lifting and rotating mechanism 20 is fixed on the base 10 and connected to the main articulated arm mechanism 30. The lifting and rotating mechanism 20 is used to move in the vertical direction and drive the main articulated arm mechanism 30 to rotate in the horizontal direction. The main articulated arm mechanism 30 includes a first articulated arm 301, a second articulated arm 302, and a third articulated arm 303. The first end of the first articulated arm 301 is rigidly connected to the lifting and rotating mechanism 20. The first articulated arm 301, the second articulated arm 302, and the third articulated arm 303 are sequentially hinged end-to-end. The second articulated arm 302 can rotate around the horizontal axis, and the third articulated arm 303 can rotate around the central axis of the second articulated arm 302 and also around the horizontal axis. The pickup mechanism 40 is hinged to the end of the third articulated arm 303 and can rotate freely around the end of the third articulated arm 303. The pickup mechanism 40 is used to position and pick up the object to be picked up.
[0040] The base 10 provides stable support for the pickup articulated arm, firmly fixing the entire pickup articulated arm to the worktable. The upper part of the base 10 is connected to the lifting and rotating mechanism 20. The lifting and rotating mechanism 20 moves vertically to control the height of the main articulated arm mechanism 30, and also rotates itself to drive the main articulated arm mechanism 30 to rotate. Even if the position of the object to be picked up changes due to different processes or equipment, the pickup articulated arm can quickly and accurately switch positions, improving versatility and adaptability. The object to be picked up can be various lightweight components or objects in the production process, such as chips, electronic components, precision mechanical parts, jewelry, etc.
[0041] The picking-up articulated arm also includes a pivot mechanism for precisely controlling the position and posture of each articulated arm. The pivot mechanism includes multiple pivots, each capable of rotating around different axes, enabling the articulated arm to perform complex movements in three-dimensional space. Through the coordinated movement of multiple pivots, the articulated arm can flexibly reach the target position. In this embodiment, the main articulated arm mechanism 30 includes a first articulated arm 301, a second articulated arm 302, and a third articulated arm 303. The lifting and rotating mechanism 20 drives the first articulated arm 301 to rotate. The first pivot at the end of the first articulated arm 301 controls the second articulated arm 302 to rotate around a horizontal axis. The second pivot at the end of the second articulated arm 302 controls the third articulated arm 303 to rotate around the central axis of the second articulated arm 302, and also around a horizontal axis. The third pivot at the end of the third articulated arm 303 controls the picking mechanism 40 to rotate freely. It should be noted that the rotation around a horizontal axis mentioned in this embodiment refers to rotational movement around a horizontal axis parallel to the ground. The high degree of freedom design of the main articulated arm mechanism 30 allows the articulated arm to flexibly reach the target position and adjust its posture to adapt to different operational requirements. This application does not specifically limit the rotation range of the articulated arm. Those skilled in the art can adjust it according to actual needs. For example, the rotation range in the horizontal axis can be 30-120°, and the rotation range around the central axis can be 0-360°.
[0042] The picking mechanism 40 can be implemented in different ways depending on the application scenario and operational requirements. For example, if the object to be picked up is a flat and smooth object, such as a chip, glass plate, or plastic plate, a vacuum chuck can be used to create negative pressure by drawing a vacuum to pick up the object. If the object to be picked up is irregular in shape and is heavy and hard, a mechanical gripper can be used to achieve opening and closing action through a mechanical structure (such as a cylinder or motor drive) to hold the object. If the object to be picked up is a metal object, such as a small mechanical part or electronic component, an electromagnetic chuck can be used to generate a magnetic field through an electromagnet to pick up conductive objects.
[0043] The picking mechanism 40 is also equipped with a positioning device for determining the position coordinates of the object to be picked up. The positioning device can be designed based on principles such as laser positioning, ultrasonic positioning, electromagnetic induction positioning, and visual positioning.
[0044] In the above scheme, after the picking mechanism 40 locates the object to be picked up in space, the main joint arm can rotate flexibly with high degree of freedom through three joint arms, and can accurately pinpoint the location of the object to be picked up. The task is completed by the picking action of the picking mechanism 40.
[0045] In some embodiments, refer to Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of a lifting support rod provided in an embodiment of this application. Figure 3 This is a schematic diagram of a lifting and rotating platform provided in an embodiment of this application. The lifting and rotating mechanism 20 includes a lifting support rod 201 and a lifting and rotating platform 202; the lower part of the lifting support rod 201 is rigidly connected to the base 10, the upper extended end of the lifting support rod 201 is a groove structure, the lifting and rotating platform 202 is provided with concave grooves around its perimeter, the concave grooves and the groove structure form a rolling bearing through ball bearings, and the top of the lifting and rotating platform 202 is rigidly connected to the head end of the first joint arm 301.
[0046] The number of lifting support rods 201 is at least one, and may be increased appropriately according to actual conditions. As one implementation, three lifting support rods 201 are evenly distributed around the lifting rotary table 202. The lifting support rods 201 can be electric lifting rods, pneumatic lifting rods, hydraulic lifting rods, screw jacks, etc.
[0047] In the above scheme, the lifting and rotating mechanism 20 realizes the adjustment of the overall height of the main articulated arm through the lifting support rod 201, so that the articulated arm can adapt to work platforms or operating areas of different heights. The lifting and rotating table 202 can rotate 360°, which greatly increases the range of motion of the articulated arm in the horizontal direction and covers a larger working area. The groove of the lifting support rod 201 and the concave groove of the lifting and rotating table 202 form a rolling bearing through ball bearings, which makes the lifting support rod 201 more stable during height adjustment, reduces vibration or shaking caused by height changes, and thus improves the stability of operation.
[0048] In some embodiments, refer to Figure 4 , Figure 4 This is a schematic diagram of the structure of a master disk provided in an embodiment of this application. The pickup mechanism 40 includes a master disk 401, a positioning compensation probe 402, and a pickup probe 403; the master disk 401 is magnetically connected to the positioning compensation probe 402 and the pickup probe 403.
[0049] A magnetic groove is provided at the center of the mother plate 401, and a magnet, such as a neodymium magnet, is placed in the groove to magnetically attract the positioning compensation probe 402 and the pickup probe 403.
[0050] In actual operation, mechanical systems may have minor manufacturing, assembly, or operational errors. The positioning compensation probe 402, with the assistance of the articulated arm, achieves spatial three-dimensional coordinate origin accuracy calibration by contacting or approaching a reference point on a dedicated object-to-be-picked device. Through interaction with the reference point, the positioning compensation probe 402 detects errors and performs real-time compensation, thereby improving the positioning accuracy of the entire picking articulated arm.
[0051] The pickup probe 403 can accurately pick up objects using a vacuum suction cup or other adsorption methods (such as electrostatic adsorption, magnetic adsorption, etc.). The pickup probe 403 can be optimized according to the shape, size, material, and surface characteristics of the object to be picked up. For example, a vacuum suction cup can be used for precision components such as chips; a magnetic adsorption device can be used for metal objects; and an electrostatic adsorption device can be used for lightweight objects. The pickup probe 403 can complete the adsorption and release of the object in a short time, improving pickup efficiency, and will not damage the object during the picking and placing process.
[0052] In the above solution, through the calibration of the positioning compensation probe 402, the articulated arm can achieve higher positioning accuracy when picking up chips, reducing the risk of picking failure or chip damage due to positional deviation. The magnetic connection method allows the positioning compensation probe 402 and the picking probe 403 to be quickly installed and removed, facilitating rapid replacement according to different types of objects to be picked up or operational requirements, thereby improving production efficiency.
[0053] In some embodiments, refer to Figure 5 , Figure 5 This is a schematic diagram of a positioning compensation probe provided in an embodiment of this application. The positioning compensation probe 402 includes a first magnetic surface 4021, a first probe 4022, and a probe 4023; the first probe 4022 has a hollow structure, with the first magnetic surface 4021 at the top and the lower part of the first probe 4022 connected to the probe 4023.
[0054] The first magnetic surface 4021 is embedded in the top of the anti-collision structure 4024, the bottom of the anti-collision structure 4024 is connected to the hollow first probe 4022, and the lower part of the first probe 4022 is connected to the probe 4023.
[0055] In the above scheme, the probe 4023 can accurately determine the position coordinates of the object to be picked up, and compensate for minor position deviations caused by mechanical errors, environmental changes or other factors, thereby ensuring that the picking probe 4023 can accurately reach the picking point.
[0056] In some embodiments, refer to Figure 5 The upper and middle parts of the first probe 4022 are wrapped with insulating adhesive 4025.
[0057] In the above solution, the insulating adhesive 4025 can effectively isolate the electrical connection between the first probe 4022 and external conductive components or the environment, reduce the impact of external electromagnetic interference on the internal signal transmission of the probe, prevent equipment failure caused by poor contact or accidental short circuit, and ensure the normal operation of the internal circuit of the probe 4023.
[0058] In some embodiments, refer to Figure 6 , Figure 6 This is a schematic diagram of a pickup probe provided in an embodiment of this application. The pickup probe 403 includes a second magnetic surface 4031, a second probe 4032, and a pickup suction cup 4033; the second probe 4032 has a hollow structure, with the second magnetic surface 4031 at the top and the pickup suction cup 4033 at the bottom. An air inlet 4034 is provided on the side of the second probe 4032, and the air inlet 4034 communicates with the internal airway of the second probe 4032.
[0059] The second magnetic suction surface 4031 is embedded in the top of the anti-collision structure 4035, the bottom of the anti-collision structure 4035 is connected to the hollow second probe 4032, and the lower part of the second probe 4032 is connected to the pickup suction cup 4033.
[0060] The tracheal inlet 4034 and the second probe 4032 form an airflow channel, which, together with an external air compressor, enables the pickup of the object to be picked up.
[0061] In the above scheme, the pickup suction cup 4033 is connected to the airway 4034 through the second probe 4032. Through airflow control, the pickup probe 403 can quickly and accurately pick up items in a high-precision environment, reducing pickup failures caused by unstable airflow or insufficient suction.
[0062] In some embodiments, refer to Figure 6 The upper and middle parts of the second probe 4032 are wrapped with insulating adhesive 4036.
[0063] In the above solution, the insulating adhesive 4036 can effectively isolate the electrical connection between the second probe 4032 and external conductive components or the environment, reduce the impact of external electromagnetic interference on the internal signal transmission of the probe, prevent equipment failure caused by poor contact or accidental short circuit, and ensure the normal operation of the internal circuit.
[0064] In some embodiments, refer to Figure 7 , Figure 7 This is a schematic diagram of a picking mechanism provided in an embodiment of this application. The picking mechanism 40 includes an optical positioning device 404 and a high-speed camera 405.
[0065] The pickup mechanism 40 has an optical positioning device 404 and a high-speed camera 405 on both sides. The optical positioning device 404 is used to achieve precise positioning and provide the position information of the object to be picked up in real time. The high-speed camera 405 is used to quickly capture images of the object to be picked up and analyze the position, shape and posture of the object in real time through image processing algorithms. The two work together to achieve three-dimensional modeling of the position of the object to be picked up.
[0066] In the above scheme, the optical positioning device 404 and the high-speed camera 405 can provide high-precision visual feedback. Through image processing and analysis technology, the position, direction and posture of the object to be picked up can be accurately identified, so that the picking mechanism 40 can dynamically adjust its position and posture during the picking process, ensuring that each picking operation can be completed accurately.
[0067] In some embodiments, the optical positioning device 404 includes an infrared light source and a position sensor.
[0068] Infrared light is not sensitive to interference from visible light and can maintain stable imaging effects in complex lighting environments. Therefore, the optical positioning device 404 can work reliably under different lighting conditions, reducing positioning errors caused by changes in ambient light.
[0069] The position sensor accurately detects the reflected signal from the infrared light source, and high-precision positioning is achieved by analyzing the reflected signal.
[0070] In the above scheme, the infrared light source can provide stable infrared light, which makes the image of the object to be picked up under infrared light have higher contrast and clarity, which helps the position sensor to more accurately identify the position, direction and attitude of the object to be picked up, thereby improving the positioning accuracy.
[0071] In some embodiments, refer to Figure 8 , Figure 8 This is a schematic diagram of a suction cup provided in an embodiment of this application. The base 10 has at least one groove at its bottom for placing the suction cup 101. The suction cup 101 has a slot on its body, and the slot of the suction cup 101 has an annular groove for compensating for horizontal height.
[0072] The base 10 has a groove at its bottom to mount a suction cup 101. Under vacuum, the suction cup 101 is level with the bottom of the base 10. In one embodiment, the groove on the suction cup 101 faces downwards to absorb shock and eliminate pressure. The annular groove at the opening of the suction cup 101 ensures a tight fit between the suction cup and the operating platform surface. Even if the platform surface has minor unevenness, stable adsorption can be achieved through the compensating effect of the annular groove.
[0073] In the above solution, the vacuum adsorption of suction cup 101 and the design of the groove can effectively reduce the vibration during the operation of the articulated arm and improve the stability of the equipment operation. The annular groove can compensate for the slight unevenness or height difference on the surface of the operating platform and achieve stable adsorption.
[0074] In some embodiments, refer to Figure 9 , Figure 9 This is a partial structural schematic diagram of a rotating shaft mechanism provided in an embodiment of this application. The rotating shaft mechanism shown is a second rotating shaft connecting the second joint arm 302 and the third joint arm 303.
[0075] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.
Claims
1. A pick-up articulated arm, characterized in that, The base, the lifting and rotating mechanism, the main joint arm mechanism and the pickup mechanism are included. The lifting and rotating mechanism is fixed on the base and connected with the main joint arm mechanism, and is used for moving in the vertical direction and driving the main joint arm mechanism to rotate in the horizontal direction. The main joint arm mechanism includes a first joint arm, a second joint arm and a third joint arm, the first end of the first joint arm is rigidly connected with the lifting and rotating mechanism, the first joint arm, the second joint arm and the third joint arm are sequentially hingedly connected in the tail-to-head mode, wherein the second joint arm can rotate around a horizontal axis, the third joint arm can rotate around the central axis of the second joint arm and can also rotate around a horizontal axis. The pickup mechanism is hingedly connected to the end of the third joint arm and can freely rotate around the end of the third joint arm, and is used for positioning and adsorbing the object to be picked up.
2. The articulated arm of claim 1, wherein, The lifting and rotating mechanism includes a lifting support rod and a lifting and rotating table. The lower part of the lifting support rod is rigidly connected with the base, the upper part of the lifting support rod is provided with a groove structure, the lifting and rotating table is provided with a concave groove around the body, the concave groove and the groove structure form a rolling bearing through balls, and the top of the lifting and rotating table is rigidly connected with the first end of the first joint arm.
3. The articulated arm of claim 1, wherein, The pickup mechanism includes a mother disc, a positioning and compensation probe and a pickup probe, and the mother disc is connected with the positioning and compensation probe and the pickup probe in a magnetic suction mode.
4. The articulated arm of claim 3, wherein, The positioning and compensation probe includes a first magnetic suction surface, a first probe and a probe head, the first probe is a hollow structure, the upper part of the first probe is the first magnetic suction surface, and the lower part of the first probe is connected with the probe head.
5. The articulated arm of claim 4, wherein, The upper part and the middle part of the first probe are wrapped with insulating glue.
6. The articulated arm of claim 3, wherein, The pickup probe includes a second magnetic suction surface, a second probe and a pickup suction disc, the second probe is a hollow structure, the upper part of the second probe is the second magnetic suction surface, the lower part of the second probe is connected with the pickup suction disc, the side surface of the second probe is provided with an air pipe opening, and the air pipe opening is in communication with the air channel inside the second probe.
7. The articulated arm of claim 6, wherein, The upper part and the middle part of the second probe are wrapped with insulating glue.
8. The articulated arm of claim 1, wherein, The pickup mechanism includes an optical positioning device and a high-speed camera.
9. The articulated arm of claim 8, wherein, The optical positioning device includes an infrared light source and a position sensor.
10. The articulated arm of any of claims 1-9, wherein, At least one groove is formed in the bottom of the base, the groove is used for placing a suction disc, the body of the suction disc is provided with a slot, and the slot of the suction disc is provided with a circular groove for compensating the horizontal height.