Mechanical hand for vacuum coating machine

Abstract

The utility model discloses a kind of manipulators for vacuum coating machine, including base, telescopic arm and gripper for taking and placing workpiece carrier, base is installed on a pedestal, telescopic arm is installed on base by translation component in a way that can reciprocate horizontally, gripper is installed on telescopic arm, base is installed with reciprocating counterweight, gripper and counterweight are separately arranged on the both sides of pedestal, the direction of reciprocating counterweight is consistent with the direction of telescopic arm reciprocation, manipulator for vacuum coating machine further includes linkage driving assembly when telescopic arm extends movement, drives counterweight and gripper to move back, when telescopic arm retracts movement, linkage driving assembly drives counterweight and gripper to move towards each other.The manipulator for vacuum coating machine has the advantages of good working stability, low requirements for structural strength and rigidity.

Description

Technical Field

[0001] This utility model relates to the field of vacuum coating equipment technology, specifically to a robotic arm for a vacuum coating machine. Background Technology

[0002] In automated production, vacuum coating machines require robotic arms to automatically transfer and unload workpiece carriers. For example, this involves loading workpiece carriers into and removing them from the vacuum coating machine. Existing robotic arms for vacuum coating machines typically include a base, a telescopic arm, and grippers for picking up and placing workpiece carriers. The base is fixed or mounted on a movable device. The telescopic arm is mounted on the base via a translation component, enabling horizontal reciprocating motion. This allows the grippers to be driven to move horizontally back and forth, transferring workpiece carriers from one station to another. When this type of robot arm extends and retracts with the workpiece carrier, its center of gravity changes with the extension and retraction of the telescopic arm. In other words, its center of gravity deviates from the installation position of the base. The longer the telescopic arm extends, the greater the distance of the center of gravity deviation. This deviation of the center of gravity will affect the stability of the operation and require higher structural strength and rigidity from the robot arm. When the base is installed on a moving mechanism (such as a sliding mechanism or a rotating mechanism), the performance requirements of the moving mechanism are also higher, and it may even affect the normal and stable operation of the moving mechanism. Utility Model Content

[0003] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a robotic arm for vacuum coating machines with good working stability and low requirements for structural strength and rigidity.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A robotic arm for a vacuum coating machine includes a base, a telescopic arm, and a fixture for picking up and placing workpieces. The base is mounted on a support. The telescopic arm is mounted on the base via a translation component, enabling horizontal reciprocating motion. The fixture is mounted on the telescopic arm. The base is equipped with a reciprocating counterweight. The fixture and counterweight are located on opposite sides of the support. The direction of reciprocating motion of the counterweight is the same as the direction of reciprocating motion of the telescopic arm. The robotic arm for the vacuum coating machine also includes a linkage drive component that drives the counterweight and fixture to move back and forth when the telescopic arm extends, and drives the counterweight and fixture to move towards each other when the telescopic arm retracts.

[0006] As a further improvement to the above technical solution:

[0007] The linkage drive assembly includes a slide block, a first connecting rod, and a second connecting rod. The slide block is slidably mounted on the base in a direction perpendicular to the reciprocating motion direction of the counterweight. The two ends of the first connecting rod are respectively hinged to the counterweight and the slide block, and the two ends of the second connecting rod are respectively hinged to the telescopic arm and the slide block.

[0008] The base is provided with a sliding guide rail, and the counterweight is slidably mounted on the sliding guide rail via a sliding block.

[0009] The sliding guide rail is detachably mounted on the base.

[0010] The base is detachably mounted with a guide post, and the slide is provided with a guide hole, which is sleeved on the guide post and slides in cooperation with the guide post.

[0011] The translation component includes two first guide mechanisms disposed on both sides of the telescopic arm and a first drive mechanism for driving the telescopic arm to reciprocate horizontally. The first guide mechanism includes a first guide rail mounted on the telescopic arm and a first slider mounted on the base, with the first guide rail and the first slider providing a guiding fit. The first drive mechanism includes a first rack mounted on the telescopic arm and a first gear mounted on the base and driven to rotate by a first motor, with the first gear meshing with the first rack.

[0012] The clamp is mounted on the telescopic arm in a height-adjustable manner via a lifting assembly.

[0013] The lifting assembly includes two second guide mechanisms and a second drive mechanism for driving the lifting motion of the clamp. The second guide mechanism includes a second guide rail mounted on the clamp and a second slider mounted on the telescopic arm. The second guide rail and the second slider are guided and engaged. The second drive mechanism includes a second rack mounted on the clamp and a second gear mounted on the telescopic arm and driven to rotate by a second motor. The second gear meshes with the second rack.

[0014] Compared with the prior art, the advantages of this utility model are:

[0015] This utility model discloses a robotic arm for a vacuum coating machine, which is equipped with a counterweight and a linkage drive assembly. When the telescopic arm extends, the linkage drive assembly drives the counterweight and the clamp to move back and forth, and when the telescopic arm retracts, it drives the counterweight and the clamp to move towards each other. This reduces the deviation of the robotic arm's center of gravity, or even keeps the robotic arm's center of gravity unchanged, which helps to ensure working stability, reduces the requirements for the structural strength and rigidity of the robotic arm, and reduces the performance requirements for the robotic arm's connection and installation structure. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of a robotic arm used in a vacuum coating machine.

[0017] Figure 2 This is a schematic diagram of the main structure of a robotic arm used in a vacuum coating machine.

[0018] Legend:

[0019] 1. Base; 11. Sliding guide rail; 12. Guide column; 2. Telescopic arm; 3. Fixture; 4. Translation assembly; 5. Counterweight; 51. Sliding block; 6. Linkage drive assembly; 61. Slide seat; 62. First connecting rod; 63. Second connecting rod; 7. Lifting assembly; 100. Workpiece carrier; 200. Support. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figure 1 and Figure 2 As shown, the robotic arm for the vacuum coating machine in this embodiment includes a base 1, a telescopic arm 2, and a clamp 3 for picking up and placing workpieces on a carrier 100. The base 1 is mounted on a support 200. The telescopic arm 2 is mounted on the base 1 in a horizontally reciprocating manner via a translation component 4. The clamp 3 is mounted on the telescopic arm 2. The base 1 is equipped with a reciprocating counterweight 5. The clamp 3 and the counterweight 5 are located on opposite sides of the support 200. The direction of the reciprocating motion of the counterweight 5 is the same as the direction of the reciprocating motion of the telescopic arm 2. The robotic arm for the vacuum coating machine also includes a linkage drive component 6 that drives the counterweight 5 and the clamp 3 to move back and forth when the telescopic arm 2 extends, and drives the counterweight 5 and the clamp 3 to move towards each other when the telescopic arm 2 retracts. The robotic arm used in this vacuum coating machine is equipped with a counterweight 5 and a linkage drive assembly 6. When the telescopic arm 2 extends, the linkage drive assembly 6 drives the counterweight 5 and the clamp 3 to move in opposite directions. When the telescopic arm 2 retracts, it drives the counterweight 5 and the clamp 3 to move in opposite directions. This reduces the deviation of the robotic arm's center of gravity, or even keeps the robotic arm's center of gravity unchanged, which helps to ensure working stability, reduces the requirements for the structural strength and rigidity of the robotic arm, and reduces the performance requirements for the robotic arm's connection and installation structure.

[0022] In this embodiment, the linkage drive assembly 6 includes a slide 61, a first connecting rod 62, and a second connecting rod 63. The slide 61 is slidably mounted on the base 1 in a direction perpendicular to the reciprocating motion direction of the counterweight 5. The two ends of the first connecting rod 62 are respectively hinged to the counterweight 5 and the slide 61, and the two ends of the second connecting rod 63 are respectively hinged to the telescopic arm 2 and the slide 61. When the telescopic arm 2 extends and retracts, it drives the slide 61 to slide back and forth through the second connecting rod 63, and the slide 61 then drives the counterweight 5 to slide accordingly through the first connecting rod 62. This linkage drive assembly 6 uses the extension and retraction motion of the telescopic arm 2 to synchronously drive the corresponding motion of the counterweight 5, without the need for additional drive components, and has the advantages of good synchronization, simple structure, low cost, and easy assembly.

[0023] In this embodiment, a sliding guide rail 11 is provided on the base 1, and the counterweight 5 is slidably mounted on the sliding guide rail 11 via a sliding block 51, which can improve the stability of the movement of the counterweight 5.

[0024] In this embodiment, the sliding guide rail 11 is detachably mounted on the base 1, which facilitates direct installation and modification of the existing robot arm.

[0025] In this embodiment, a guide post 12 is detachably mounted on the base 1, and a slide block 61 is provided with a guide hole. The guide hole is fitted onto the guide post 12 and slides in cooperation with the guide post 12. Its structure is simple and easy to manufacture and assemble. The guide post 12 is detachably mounted on the base 1, which facilitates direct installation and modification of existing robotic arms.

[0026] In this embodiment, the translation component 4 includes two first guide mechanisms disposed on both sides of the telescopic arm 2 and a first drive mechanism for driving the telescopic arm 2 to reciprocate horizontally. The first guide mechanism includes a first guide rail mounted on the telescopic arm 2 and a first slider mounted on the base 1, with the first guide rail and the first slider providing a guiding fit. The first drive mechanism includes a first rack mounted on the telescopic arm 2 and a first gear mounted on the base 1 and driven to rotate by a first motor, with the first gear meshing with the first rack. The first motor drives the first gear to rotate, which in turn forces the telescopic arm 2 to reciprocate horizontally via the first rack. This translation component 4 has a simple structure, is easy to control, and operates stably and reliably.

[0027] In this embodiment, the clamp 3 is mounted on the telescopic arm 2 in an adjustable manner via the lifting component 7. The lifting component 7 can drive the clamp 3 to move up and down, thereby lifting and lowering the workpiece carrier 100 and facilitating the picking and placing of the workpiece carrier 100.

[0028] In this embodiment, the lifting assembly 7 includes two second guide mechanisms and a second drive mechanism for driving the lifting movement of the clamp 3. The second guide mechanism includes a second guide rail mounted on the clamp 3 and a second slider mounted on the telescopic arm 2, with the second guide rail and second slider providing a guiding fit. The second drive mechanism includes a second rack mounted on the clamp 3 and a second gear mounted on the telescopic arm 2 and driven to rotate by a second motor, with the second gear meshing with the second rack. The second motor drives the second gear to rotate, which in turn forces the clamp 3 to move up and down via the second rack. This lifting assembly 7 has a simple structure, is easy to control, and operates stably and reliably.

[0029] The above description is merely a preferred embodiment of this utility model, and the protection scope of this utility model is not limited to the above embodiments. For those skilled in the art, improvements and modifications obtained without departing from the technical concept of this utility model should also be considered within the protection scope of this utility model.

Claims

1. A robotic arm for a vacuum coating machine, comprising a base (1), a telescopic arm (2), and a clamp (3) for picking up and placing workpieces on a carrier (100), wherein the base (1) is mounted on a support (200), the telescopic arm (2) is mounted on the base (1) via a translation component (4) in a manner capable of horizontal reciprocating motion, and the clamp (3) is mounted on the telescopic arm (2), characterized in that: The base (1) is equipped with a reciprocating counterweight (5). The clamp (3) and the counterweight (5) are respectively located on both sides of the support (200). The reciprocating direction of the counterweight (5) is consistent with the reciprocating direction of the telescopic arm (2). The robotic arm for the vacuum coating machine also includes a linkage drive assembly (6) that drives the counterweight (5) and the clamp (3) to move back and forth when the telescopic arm (2) extends, and drives the counterweight (5) and the clamp (3) to move towards each other when the telescopic arm (2) retracts.

2. The robotic arm for a vacuum coating machine according to claim 1, characterized in that: The linkage drive assembly (6) includes a slide (61), a first link (62), and a second link (63). The slide (61) is slidably mounted on the base (1) in a direction perpendicular to the reciprocating motion direction of the counterweight (5). The two ends of the first link (62) are respectively hinged to the counterweight (5) and the slide (61), and the two ends of the second link (63) are respectively hinged to the telescopic arm (2) and the slide (61).

3. The robotic arm for a vacuum coating machine according to claim 2, characterized in that: The base (1) is provided with a sliding guide rail (11), and the counterweight (5) is slidably mounted on the sliding guide rail (11) via a sliding block (51).

4. The robotic arm for a vacuum coating machine according to claim 3, characterized in that: The sliding guide rail (11) is detachably mounted on the base (1).

5. The robotic arm for a vacuum coating machine according to claim 2, characterized in that: The base (1) is detachably mounted with a guide post (12), and the slide (61) is provided with a guide hole, which is sleeved on the guide post (12) and slides in cooperation with the guide post (12).

6. The robotic arm for a vacuum coating machine according to claim 1, characterized in that: The translation component (4) includes two first guide mechanisms disposed on both sides of the telescopic arm (2) and a first drive mechanism for driving the telescopic arm (2) to reciprocate horizontally. The first guide mechanism includes a first guide rail mounted on the telescopic arm (2) and a first slider mounted on the base (1). The first guide rail and the first slider are guided and engaged. The first drive mechanism includes a first rack mounted on the telescopic arm (2) and a first gear mounted on the base (1) and driven to rotate by a first motor. The first gear meshes with the first rack.

7. The robotic arm for a vacuum coating machine according to any one of claims 1 to 6, characterized in that: The clamp (3) is mounted on the telescopic arm (2) in an adjustable manner via the lifting assembly (7).

8. The robotic arm for a vacuum coating machine according to claim 7, characterized in that: The lifting assembly (7) includes two second guide mechanisms and a second drive mechanism for driving the lifting motion of the clamp (3). The second guide mechanism includes a second guide rail mounted on the clamp (3) and a second slider mounted on the telescopic arm (2). The second guide rail and the second slider are guided and engaged. The second drive mechanism includes a second rack mounted on the clamp (3) and a second gear mounted on the telescopic arm (2) and driven to rotate by a second motor. The second gear meshes with the second rack.

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