A heat sink handling robot
By using multi-degree-of-freedom coordinated control driven by a turbine drive assembly and a linkage mechanism, the problems of flexibility and precision in complex spaces for heat sink handling equipment are solved, achieving efficient and stable heat sink handling.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHANGHAI KING SUN COOLING EQUIP
- Filing Date
- 2025-07-23
- Publication Date
- 2026-05-26
AI Technical Summary
Existing heat sink handling equipment struggles to achieve flexible, multi-degree-of-freedom movement and precise end-effector posture control within limited spaces, resulting in low loading efficiency, insufficient flexibility, and poor accuracy.
The device employs a 360° rotating base driven by a turbine drive group, a swing frame pitch driven by a linkage mechanism, and an independent support arm swing. Combined with a five-degree-of-freedom kinematic chain and intelligent control, it achieves high-precision and stable handling of heat sinks through coordinated operation of servo motors.
It enables multi-angle obstacle avoidance of heat sinks in complex and narrow spaces, improves handling efficiency and accuracy, reduces energy consumption and maintenance costs, and adapts to the handling needs of heat sinks of different specifications.
Smart Images
Figure CN224275077U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of heat sink handling technology, and in particular to a heat sink handling robot. Background Technology
[0002] Currently, automated equipment used for heat sink handling mainly includes the following types:
[0003] 1. Cartesian coordinate robot / gantry robot: This type of device has a simple structure and high positioning accuracy, and is widely used in linear path material handling. However, its movement space is usually limited by the guide rail layout, resulting in poor flexibility and difficulty in adapting to complex spatial paths for pick-and-place operations (such as needing to bypass obstacles or operate in narrow spaces). Especially in scenarios requiring a large range of rotation or tilt angles for pick-and-place operations, its efficiency is low and it occupies a large space.
[0004] 2. Simple pneumatic / electric swing arm robot: Relatively simple in structure and low in cost. However, these robots typically have limited degrees of freedom and a single motion trajectory, mostly simple swinging or linear reciprocating motion. They struggle to precisely control the posture of the heat sink during handling (e.g., horizontality, rotation angle), failing to meet the demands of high-precision assembly or multi-angle loading. Their rigidity and repeatability are also often insufficient.
[0005] In existing technologies, especially for applications that require flexible multi-degree-of-freedom movement within a limited space, precise control of the end-effector posture to adapt to specific pick-up and drop angles of heat sinks, and stable and efficient handling processes, such as accurately placing heat sinks into dense arrays of heat sink substrates or assembly stations at specific angles, the aforementioned handling equipment has limitations to varying degrees: either insufficient flexibility, excessive cost, or difficulty in balancing accuracy and stability.
[0006] Therefore, there is an urgent need in this field to develop a dedicated handling robot for heat sinks that is compact, flexible in motion, precise in control, and relatively cost-effective. This robot should be able to effectively combine multi-degree-of-freedom motions such as rotation, swing, and pitch, and through coordinated control, achieve smooth, rapid, and high-precision handling of heat sinks in complex spatial paths, while ensuring that the end effector (loading component) can precisely adjust its posture according to the shape of the heat sink and the requirements for picking and placing it. Utility Model Content
[0007] This application provides a heat sink handling robot to solve the problems of low loading efficiency, insufficient flexibility, and poor precision of heat sinks in the prior art.
[0008] This application adopts the following technical solution: a heat sink handling robot, comprising:
[0009] chassis;
[0010] A rotating base is rotatably mounted on the upper end of the housing via a turbine drive assembly;
[0011] The first support arm has one end rotatably mounted on a rotating seat, and the other end of the first support arm is rotatably mounted on a swing frame; wherein the swing frame is driven by a linkage mechanism.
[0012] The second support arm is rotatably mounted on the swing frame, and a feeding component is rotatably mounted at the end of the second support arm.
[0013] The linkage mechanism includes a crank hinged to the first support arm and a connecting rod hinged to the swing arm. One end of the swing frame is provided with an extended swing arm, and the other end of the connecting rod is hinged to the swing arm. The linkage mechanism is driven by a first servo motor, and the second support arm is driven by a second servo motor.
[0014] Furthermore, the turbine drive assembly includes a worm gear disposed inside the housing and a turbine power motor that powers it, wherein the worm gear meshes with a gear for transmission.
[0015] Furthermore, the rotating seat is fixed to the upper end of the gear and rotates coaxially with the gear.
[0016] Furthermore, the first support arm is driven by the first support arm power motor to swing around the rotating seat.
[0017] Furthermore, the second servo motor is fixedly mounted on the swing frame, and the second servo motor drives the second support arm.
[0018] Furthermore, the feeding component is driven by a third servo motor, and the third servo motor is integrated with the end of the second support arm.
[0019] Furthermore, the feeding component is a vacuum suction tray, used to pick up the heat sink to be transported.
[0020] Furthermore, the first servo motor, the second servo motor, the third servo motor, the first support arm power motor, and the turbine group power motor are coordinated and controlled by the PLC.
[0021] The heat sink handling robot provided in this application achieves significant improvements in heat sink handling efficiency, accuracy, and adaptability through an innovative multi-degree-of-freedom collaborative structure and intelligent control strategy. Its beneficial effects are specifically reflected in the following aspects:
[0022] Breakthrough optimization of spatial motion capabilities: Based on a 360° rotating base driven by a turbine drive assembly, combined with the swing of the first support arm, the pitch of the swing frame driven by a linkage mechanism, the independent swing of the second support arm, and the rotation of the loading component, a five-degree-of-freedom kinematic chain is constructed, enabling the robotic arm's end effector to achieve multi-angle obstacle avoidance in complex and narrow spaces. Compared to the limited straight-line paths of traditional Cartesian coordinate robotic arms, this solution improves workspace coverage, reduces the turning radius, and reduces the equipment's footprint, perfectly adapting to the high-density layout requirements of electronic assembly.
[0023] Enhanced dynamic adaptive capability: The end vacuum suction tray can integrate a pressure sensor, and the PLC dynamically adjusts the suction force according to the quality of the heat sink, which can stably transport heat sinks of the same specification without changing the fixture.
[0024] Energy consumption and maintenance costs are significantly reduced: The lightweight carbon fiber arm (first support arm) reduces inertial load, and with the servo motor energy efficiency optimization algorithm, power consumption is lower than that of the pneumatic system; the lubrication-free design of the worm gear drive and the modular joint structure extend the maintenance cycle and reduce the overall operation and maintenance costs.
[0025] In summary, this robotic arm overcomes physical limitations with its spatial folding design, achieves nanometer-level precision through multi-axis collaborative control, and covers the handling of heat sinks of all sizes with its intelligent adaptive system. It completely solves the three major pain points that have long existed in the industry: low loading efficiency, poor flexibility, and insufficient precision, providing a revolutionary solution for the assembly of high-density electronic heat dissipation systems. Attached Figure Description
[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings of the embodiments will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this application, and are not intended to limit this application.
[0027] Figure 1 This is a schematic diagram of the appearance of this application:
[0028] Figure 2 This is a three-dimensional schematic diagram from another perspective of this application;
[0029] Figure 3 This application Figure 1 Cross-sectional view of the turbine drive assembly at point AA.
[0030] Explanation of reference numerals in the attached figures:
[0031] 10. Housing; 11. Rotating base;
[0032] 20. Turbine drive assembly; 21. Turbine drive motor; 22. Worm gear; 23. Gear;
[0033] 30. First support arm; 31. First support arm power motor;
[0034] 40. Linkage mechanism; 41. First servo motor; 42. Crank; 43. Connecting rod; 44. Free end;
[0035] 50. Swing frame; 51. Swing rod;
[0036] 60. Second support arm; 61. Second servo motor;
[0037] 70. Feeding component; 71. Third servo motor. Detailed Implementation
[0038] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.
[0039] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0040] Unless otherwise defined, the technical or scientific terms used in this patent document shall have the ordinary meaning understood by a person skilled in the art to which this application pertains. The terms "first," "second," and similar terms used in this patent specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms "an," "a," or "the" do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" indicate that the element or object preceding "comprising" encompasses the element or object listed following "comprising" or its equivalents, and do not exclude other elements or objects. Terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" are used only to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. These terms are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0041] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.
[0042] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, features in the following embodiments can be combined with each other.
[0043] Example 1: Basic Structure Implementation and Rotational Degree of Freedom Optimization
[0044] refer to Figure 1-3 This heat sink handling robot includes a housing 10, a rotating base 11, a first support arm 30, a swing frame 50, a second support arm 60, and a loading component 70.
[0045] in:
[0046] The rotating seat 11 achieves 360° rotation through the turbine transmission assembly 20: the turbine power motor 21 drives the worm gear 22 to mesh with the gear 23, and the rotating seat 11 is fixedly connected to the upper end of the gear 23.
[0047] In this technical solution, traditional Cartesian coordinate robots rely on linear guides, requiring an additional rotary table for rotation, thus increasing space consumption. This solution integrates a worm gear into the housing 10, achieving full circumferential rotation within the base, improving space utilization by 50%. The worm gear's self-locking characteristic eliminates inertial misalignment during heat sink handling, achieving a positioning accuracy of ±0.05° (compared to ±0.5° in existing equipment).
[0048] Example 2: Multi-stage arm kinematic chain and posture control
[0049] First support arm 30 kinematic chain:
[0050] The first support arm motor 31 drives the first support arm 30 to swing ±90° around the rotating seat 11.
[0051] The linkage mechanism 40 drives the swing frame 50: the first servo motor 41 drives the crank 41 to rotate, which pushes the swing arm 51 through the connecting rod 42, so that the swing frame 50 pitches (-30° to +45°) relative to the first support arm 30.
[0052] Independent drive of the second support arm 60: The second servo motor 61 is fixed to the swing frame 50 and directly drives the second support arm 60 to rotate.
[0053] In this technical solution, the heat sink needs to be embedded into the heat dissipation substrate at a specific angle, and existing pneumatic swing arms can only move in a planar manner. This design transforms rotation into precise pitch + independent swaying of the second support arm at 60 degrees through a crank-connecting rod linkage motion, forming a four-level motion chain of "rotation - upper arm pitch - lower arm pitch - end-effector rotation". This upgrades the end-effector attitude adjustment dimension of the device from 2D to 3D space, thereby solving the interference problem between the heat sink and the substrate.
[0054] Example 3: End-effector Cooperative Control
[0055] Optimization of feeding component 70:
[0056] The third servo motor 71 is integrated with the end of the second support arm 60 to drive the vacuum suction plate to rotate (±180°).
[0057] Five-motor coordinated control: PLC synchronously controls turbine power motor 21, first support arm power motor 31, first servo motor 41, second servo motor 61, and third servo motor 71.
[0058] Example 4: Compact Structure Implementation
[0059] Key integration design:
[0060] 1. Built-in drive: The second servo motor 61 is embedded in the side wall of the swing frame 50, reducing cantilever load.
[0061] 2. Transmission optimization: The worm gear 22 and gear 23 adopt a double-lead backlash elimination structure, with backlash ≤0.01mm.
[0062] 3. Space folding: The first support arm 30 and the second support arm 60 can be folded to one side of the housing 10.
[0063] As an optional implementation, for heat sinks of different specifications (sizes from 20×20mm to 150×150mm, weight 50g-800g), the following design can be made:
[0064] 1. Lightweight design: The first support arm 30 adopts a carbon fiber hollow structure, increasing stiffness by 40%.
[0065] 2. Vacuum system compatibility: The suction cup 70 is equipped with a pressure sensor, and the PLC dynamically adjusts the suction force.
[0066] 3. Collision protection: Each joint is equipped with a torque limiter, which will stop the vehicle in case of a collision force greater than 5N.
[0067] Summary of technical effects
[0068] This implementation method, through the above embodiments, achieves three major breakthroughs compared to the prior art:
[0069] 1. Breakthrough in space efficiency: The multi-degree-of-freedom folding structure improves the workspace / floor area ratio;
[0070] 2. Breakthrough in Precision: Multi-axis collaborative control significantly improves end-effector positioning accuracy;
[0071] 3. Adaptability Breakthrough: The range of portable heat sink thickness has been expanded from ≥2mm to 0.5-10mm.
[0072] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A heat sink handling robot, characterized in that, include: chassis; A rotating seat is rotatably mounted on the upper end of the housing via a turbine drive assembly; A first support arm has one end rotatably mounted on the rotating seat, and the other end of the first support arm is rotatably mounted on a swing frame; wherein the swing frame is driven by a linkage mechanism. A second support arm has one end rotatably mounted on the swing frame, and the end of the second support arm is rotatably mounted on a feeding component; wherein one end of the swing frame is provided with an extended swing rod, the linkage mechanism includes a crank hinged to the first support arm and a connecting rod hinged to the swing rod, the other end of the connecting rod is hinged to the swing rod, the linkage mechanism is driven by a first servo motor, and the second support arm is driven by a second servo motor.
2. The heat sink handling robot according to claim 1, characterized in that, The turbine drive assembly includes a worm gear disposed inside the housing and a turbine motor that provides power to it, wherein the worm gear meshes with a gear for transmission.
3. The heat sink handling robot according to claim 2, characterized in that, The rotating seat is fixed to the upper end of the gear and rotates coaxially with the gear.
4. The heat sink handling robot according to claim 3, characterized in that, The first support arm is driven by a first support arm power motor to swing around the rotating seat.
5. The heat sink handling robot according to claim 4, characterized in that, The second servo motor is fixedly mounted on the swing frame, and the second servo motor drives the second support arm.
6. The heat sink handling robot according to claim 5, characterized in that, The feeding component is driven by a third servo motor, and the third servo motor is integrated with the end of the second support arm.
7. The heat sink handling robot according to claim 6, characterized in that, The feeding component is a vacuum suction tray, used to pick up the heat sink to be transported.
8. The heat sink handling robot according to claim 7, characterized in that, The first servo motor, the second servo motor, the third servo motor, the first support arm power motor, and the turbine power motor are coordinated and controlled by a PLC.