Sticky bar robot

Abstract

The utility model relates to the technical field of gripper, especially a stick mechanical hand. Including base and mechanical arm body, the top of base is provided with mechanical arm body, mechanical arm body is connected with the rotation of base, and the one end of mechanical arm body is provided with the grabbing mechanism away from the base, the grabbing mechanism includes cylinder, sliding plate, first connecting frame, grabbing arm, second connecting frame, first fixed plate and friction plate, and the cylinder sets up on mechanical arm body, and the telescopic end of cylinder is fixed with sliding plate, and sliding plate is connected with mechanical arm body slidingly. The utility model provides a kind of stick mechanical hand, and the friction plate on grabbing mechanism can appear wear and tear, damage and other conditions after long time use, and the design of clamping mechanism makes maintenance personnel be able to quickly disassemble and install new friction plate, reduce equipment downtime, improve production efficiency.

Description

Technical Field

[0001] This utility model relates to the field of gripper technology, and in particular to a sticky rod manipulator. Background Technology

[0002] A sticky rod mechanical three-jaw gripper is a mechanical device specifically designed for gripping sticky rods (such as rod-shaped objects used in semiconductor manufacturing, optical component processing, etc., which may contain sticky substances for subsequent processes).

[0003] For example, Chinese utility model patent (CN213259531U) discloses a three-claw gripper, including a base plate, a telescopic cylinder, a cylinder rod and a ball bearing. The telescopic cylinder is bolted to the outer side of the base plate, and one end of the telescopic cylinder passes through the base plate and is connected to the cylinder rod. A base plate is bolted to one end of the cylinder rod. The base plate is located inside the base plate, and a control link is axially connected to the side of the base plate. A gripping finger is installed at one end of the control link, and the top of the gripping finger is installed on the side of the base plate.

[0004] When using the above technology, the following technical problems were found in the existing technology: the gripper fingers are prone to wear after long-term use, and the worn gripper fingers affect the gripping effect of the gripper and are difficult to replace. Therefore, we designed a sticky rod robot to provide another technical solution to the above technical problems. Utility Model Content

[0005] Therefore, it is necessary to provide a sticking bar robot to address the above-mentioned technical problems. The friction plate on the gripping mechanism may wear out or be damaged after long-term use. The design of the snap-fit ​​mechanism allows maintenance personnel to quickly disassemble and install new friction plates, reducing equipment downtime and improving production efficiency.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: A sticky stick robot includes a base and a robotic arm body. The robotic arm body is disposed on the top of the base and is rotatably connected to the base. A gripping mechanism is disposed at the end of the robotic arm body away from the base. The gripping mechanism includes a cylinder, a sliding plate, a first connecting frame, a gripping arm, a second connecting frame, a first fixing plate, and a friction plate. The cylinder is mounted on the robotic arm body. The sliding plate is fixed to the telescopic end of the cylinder, and the sliding plate is slidably connected to the robotic arm body. Multiple first connecting frames are evenly distributed and fixed along the circumference of the outer side wall of the robotic arm body. The gripping arm is rotatably connected to the inner side of the first connecting frame. The second connecting frame is rotatably connected to the side of the sliding plate away from the cylinder. The first fixing plate is rotatably connected to the end of the second connecting frame away from the sliding plate. The first fixing plate is fixedly connected to the gripping arm. A friction plate is provided at the bottom of the gripping arm. A locking mechanism is provided on the gripping arm for connecting the friction plate and the gripping arm.

[0007] In a preferred embodiment of the sticking robot provided by this utility model, the clamping mechanism includes a placement groove, a first clamping plate, a circular groove, and a connecting bolt. The gripping arm has a placement groove, the friction plate is fixed with the first clamping plate, the first clamping plate has a circular groove, and the inner side of the gripping arm is slidably connected to the connecting bolt, which is slidably connected to the first clamping plate through the circular groove.

[0008] In a preferred embodiment of the sticking manipulator provided by this utility model, the latching mechanism further includes a locking seat, a second latching plate, a latching groove, a first limiting plate, and a spring. A locking seat is provided on the side of the gripping arm away from the first latching plate. A guide channel is formed on the side wall of the locking seat, and sliding cavities are connected to both sides of the guide channel. The second latching plate is slidably disposed within the guide channel. A latching groove is formed on the connecting bolt, and the second latching plate latches with the connecting bolt through the latching groove. First limiting plates are fixed on both sides of the second latching plate, and the first limiting plates are slidably disposed within the sliding cavities. One end of the spring is fixedly connected to the first limiting plate, and the other end of the spring is fixedly connected to the inner wall of the sliding cavity on the side away from the connecting bolt.

[0009] In a preferred embodiment of the sticking rod robot provided by this utility model, the second snap-fit ​​plate is fixed with a connecting plate, the connecting plate is slidably connected with the locking seat, the connecting plate is fixed with a third fixing plate, the outer sides of the locking seat and the connecting plate are both threaded, and a second limiting plate is provided on the outer sides of the plurality of connecting plates and locking seats.

[0010] In a preferred embodiment of the sticking rod manipulator provided by this utility model, the second limiting plate is a nut-shaped structure, and its inner wall is provided with threads that are adapted to the outer threads of the locking seat and the connecting plate. The second limiting plate can be connected to the locking seat and the connecting plate respectively by thread engagement.

[0011] In a preferred embodiment of the adhesive stick manipulator provided by this utility model, the connecting bolt has an arc-shaped surface, and the bottom of the second snap-fit ​​plate is in contact with the arc-shaped surface.

[0012] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0013] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects: This utility model provides a sticking bar robot. After prolonged use, the friction plate on the gripping mechanism may wear out or be damaged. The design of the snap-fit ​​mechanism allows maintenance personnel to quickly disassemble and install new friction plates, reducing equipment downtime and improving production efficiency. Attached Figure Description

[0014] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This utility model Figure 1 Enlarged view of point A; Figure 3 This is a schematic diagram of the connection structure between the cylinder and the sliding plate of this utility model; Figure 4 This is a schematic diagram of the connection structure between the friction plate and the first snap-fit ​​plate of this utility model; Figure 5 This is a schematic diagram of the connection structure between the gripping arm and the locking seat of this utility model; Figure 6 This is a schematic diagram of the connection structure between the second snap-fit ​​plate and the spring of this utility model; Figure 7 This utility model Figure 6 Enlarged view of point B; Figure 8 This is a cross-sectional schematic diagram of the snap-fit ​​mechanism of this utility model.

[0016] In the diagram: 1. Base; 2. Robotic arm body; 3. Gripping mechanism; 4. Cylinder; 5. Sliding plate; 6. First connecting frame; 7. Gripping arm; 8. Second connecting frame; 9. First fixing plate; 10. Friction plate; 11. Placement slot; 12. First snap-fit ​​plate; 13. Circular slot; 14. Connecting bolt; 15. Locking seat; 16. Second snap-fit ​​plate; 17. Snap-fit ​​slot; 18. First limiting plate; 19. Spring; 20. Connecting plate; 21. Third fixing plate; 22. Second limiting plate. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0018] As described in the background section, the gripper fingers are prone to wear after prolonged use, which affects the gripping effect of the gripper and makes replacement difficult.

[0019] To solve this technical problem, this utility model provides a sticking rod robot.

[0020] For details, please refer to Figures 1-3 A sticky stick robot specifically includes: a base 1 and a robotic arm body 2. The robotic arm body 2 is provided on the top of the base 1 and is rotatably connected to the base 1. A gripping mechanism 3 is provided at the end of the robotic arm body 2 away from the base 1. The gripping mechanism 3 includes a cylinder 4, a sliding plate 5, a first connecting frame 6, a gripping arm 7, a second connecting frame 8, a first fixing plate 9, and a friction plate 10. The cylinder 4 is mounted on the robotic arm body 2. The sliding plate 5 is fixed to the telescopic end of the cylinder 4 and is slidably connected to the robotic arm body 2. Multiple first connecting frames 6 are evenly distributed and fixed along the circumference of the outer side wall of the robotic arm body 2. The gripping arm 7 is rotatably connected to the inner side of the first connecting frame 6. The second connecting frame 8 is rotatably connected to the side of the sliding plate 5 away from the cylinder 4. The first fixing plate 9 is rotatably connected to the end of the second connecting frame 8 away from the sliding plate 5. The first fixing plate 9 is fixedly connected to the gripping arm 7. The friction plate 10 is provided at the bottom of the gripping arm 7. A snap-fit ​​mechanism is provided on the gripping arm 7 for connecting the friction plate 10 and the gripping arm 7.

[0021] The present invention provides a sticking bar robot. The friction plate 10 on the gripping mechanism 3 may wear out or be damaged after long-term use. The design of the snap-fit ​​mechanism allows maintenance personnel to quickly disassemble and install new friction plates 10, reducing equipment downtime and improving production efficiency.

[0022] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0023] 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.

[0024] Example 1

[0025] Reference Figures 1-7 A sticky stick robot includes a base 1 and a robotic arm body 2. The robotic arm body 2 is disposed on the top of the base 1 and is rotatably connected to the base 1. A gripping mechanism 3 is disposed at the end of the robotic arm body 2 away from the base 1. The gripping mechanism 3 includes a cylinder 4, a sliding plate 5, a first connecting frame 6, a gripping arm 7, a second connecting frame 8, a first fixing plate 9, and a friction plate 10. The cylinder 4 is mounted on the robotic arm body 2. The sliding plate 5 is fixed to the telescopic end of the cylinder 4 and is slidably connected to the robotic arm body 2. Multiple first connecting frames 6 are evenly distributed and fixed along the circumference of the outer side wall of the robotic arm body 2. The gripping arm 7 is rotatably connected to the inner side of the first connecting frame 6. The second connecting frame 8 is rotatably connected to the side of the sliding plate 5 away from the cylinder 4. The first fixing plate 9 is rotatably connected to the end of the second connecting frame 8 away from the sliding plate 5. The first fixing plate 9 is fixedly connected to the gripping arm 7. The friction plate 10 is provided at the bottom of the gripping arm 7. A snap-fit ​​mechanism is provided on the gripping arm 7 for connecting the friction plate 10 and the gripping arm 7.

[0026] The snap-fit ​​mechanism includes a placement groove 11, a first snap-fit ​​plate 12, a circular groove 13, and a connecting bolt 14. The gripping arm 7 has a placement groove 11, the friction plate 10 is fixed with the first snap-fit ​​plate 12, the first snap-fit ​​plate 12 has a circular groove 13, and the inner side of the gripping arm 7 is slidably connected to the connecting bolt 14. The connecting bolt 14 is slidably connected to the first snap-fit ​​plate 12 through the circular groove 13. The locking mechanism also includes a locking seat 15, a second locking plate 16, a locking groove 17, a first limiting plate 18, and a spring 19. The locking seat 15 is provided on the side of the gripping arm 7 away from the first locking plate 12. The side wall of the locking seat 15 has a guide channel, and both sides of the guide channel are connected to sliding cavities. The second locking plate 16 is slidably disposed in the guide channel. The connecting bolt 14 has a locking groove 17, and the second locking plate 16 is locked to the connecting bolt 14 through the locking groove 17. The first limiting plate 18 is fixed on both sides of the second locking plate 16 and is slidably disposed in the sliding cavity. One end of the spring 19 is fixedly connected to the first limiting plate 18, and the other end of the spring 19 is fixedly connected to the inner wall of the sliding cavity on the side away from the connecting bolt 14. Specifically, there are three locking grooves 17, three guide channels, and three second locking plates 16.

[0027] The friction plate 10 on the gripping mechanism 3 may wear out or be damaged after prolonged use. The design of the snap-fit ​​mechanism allows maintenance personnel to quickly disassemble and install new friction plates 10, reducing equipment downtime and improving production efficiency.

[0028] Example 2

[0029] Reference Figures 5-6 A kind of sticking rod robot, wherein a connecting plate 20 is fixed on a second snap-fit ​​plate 16, the connecting plate 20 is slidably connected to a locking seat 15, a third fixing plate 21 is fixed on the connecting plate 20, threads are provided on the outer sides of the locking seat 15 and the connecting plate 20, and a second limiting plate 22 is provided on the outer sides of multiple connecting plates 20 and locking seats 15. The second limiting plate 22 has a nut-shaped structure, and its inner wall is provided with threads that are compatible with the outer threads of the locking seat 15 and the connecting plate 20. The second limiting plate 22 can be connected to the locking seat 15 and the connecting plate 20 respectively by thread engagement. The second limiting plate 22 engages with the locking seat 15 and the connecting plate 20 via external threads, thereby restricting the locking seat 15 and the connecting plate 20 and preventing the second snap-fit ​​plate 16 from moving arbitrarily.

[0030] The connecting bolt 14 has an arc-shaped surface, and the bottom of the second snap-fit ​​plate 16 fits against the arc-shaped surface. The arc-shaped surface design facilitates the lifting of the second snap-fit ​​plate 16 by the connecting bolt 14.

[0031] The usage process of the sticking rod robot provided by this utility model is as follows: When the robot needs to replace the friction plate 10 due to long-term friction; At this time, the second limiting plate 22 is rotated. At this time, the second limiting plate 22 is no longer threadedly connected to the locking seat 15 and the second limiting plate 22. At this time, the second limiting plate 22 no longer restricts the second limiting plate 22. At this time, the connecting plate 20 can be driven by the third fixing plate 21. Since the connecting plate 20 is fixedly connected to the second snap-fit ​​plate 16, the second snap-fit ​​plate 16 is no longer snapped to the connecting bolt 14 through the snap-fit ​​groove 17. At this time, the connecting bolt 14 can be pulled out from the inside of the gripping arm 7. At this time, the connecting bolt 14 is no longer snapped to the friction plate 10 through the first snap-fit ​​plate 12. At this time, the friction plate 10 can be replaced. At this time, the first snap-fit ​​plate 12 at one end of the new friction plate 10 is inserted into the inner side of the placement groove 11. At this time, the connecting bolt 14 is inserted into the inner side of the gripping arm 7. At this time, the inclined surface at one end of the connecting bolt 14 contacts the bottom of the second snap-fit ​​plate 16. At this time, the second snap-fit ​​plate 16 moves to the top. Since the second snap-fit ​​plate 16 is fixedly connected to the first limiting plate 18, the first limiting plate 18 fixed to the second snap-fit ​​plate 16 squeezes the spring 19. At this time, the bottom of the second snap-fit ​​plate 16 contacts the outer side of the connecting bolt 14. Then, the connecting bolt 14 is rotated. When the snap-fit ​​groove 17 corresponds to the second snap-fit ​​plate 16, under the action of the spring force of the spring 19, the spring 19 pushes the second snap-fit ​​plate 16 to snap into the snap-fit ​​groove 17. At this time, the connecting bolt 14 is fixed. Then, the locking seat 15 and the connecting plate 20 are threadedly fixed by the second limiting plate 22. Then, the sticky rod can be grasped by the external controller connected to the cylinder 4 and the robotic arm body 2.

[0032] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it.

Claims

1. A sticky stick robotic arm, characterized in that, Includes a base (1) and a robotic arm body (2). The top of the base (1) is provided with the robotic arm body (2). The robotic arm body (2) is rotatably connected to the base (1). A gripping mechanism (3) is provided at the end of the robotic arm body (2) away from the base (1). The gripping mechanism (3) includes a cylinder (4), a sliding plate (5), a first connecting frame (6), a gripping arm (7), a second connecting frame (8), a first fixing plate (9), and a friction plate (10). The cylinder (4) is mounted on the robotic arm body (2), and the sliding plate (5) is fixed to the telescopic end of the cylinder (4). The sliding plate (5) is slidably connected to the robotic arm body (2). Multiple first connecting frames (6) are evenly distributed and fixed along the circumferential direction on the outer side wall of the robotic arm body (2). A gripping arm (7) is rotatably connected to the inner side of the frame (6). A second connecting frame (8) is rotatably connected to the side of the sliding plate (5) away from the cylinder (4). A first fixing plate (9) is rotatably connected to the end of the second connecting frame (8) away from the sliding plate (5). The first fixing plate (9) is fixedly connected to the gripping arm (7). A friction plate (10) is provided at the bottom of the gripping arm (7). A snap-fit ​​mechanism is provided on the gripping arm (7). The snap-fit ​​mechanism is used to connect the friction plate (10) and the gripping arm (7).

2. The adhesive stick manipulator according to claim 1, characterized in that, The locking mechanism includes a placement groove (11), a first locking plate (12), a circular groove (13), and a connecting bolt (14). The inner side of the gripping arm (7) is provided with a placement groove (11). The friction plate (10) is fixed with a first locking plate (12). The first locking plate (12) is provided with a circular groove (13). The inner side of the gripping arm (7) is slidably connected with a connecting bolt (14). The connecting bolt (14) is slidably connected to the first locking plate (12) through the circular groove (13).

3. The adhesive stick manipulator according to claim 2, characterized in that, The locking mechanism further includes a locking seat (15), a second locking plate (16), a locking groove (17), a first limiting plate (18), and a spring (19). The gripping arm (7) is provided with a locking seat (15) on the side away from the first locking plate (12). The side wall of the locking seat (15) is provided with a guide channel, and both sides of the guide channel are connected to sliding cavities. The second locking plate (16) is slidably disposed in the guide channel. The connecting bolt (14) is provided with a locking groove (17), and the second locking plate (16) is locked with the connecting bolt (14) through the locking groove (17). The second locking plate (16) is fixed on both sides of the second locking plate (16), and the first limiting plate (18) is slidably disposed in the sliding cavity. One end of the spring (19) is fixedly connected to the first limiting plate (18), and the other end of the spring (19) is fixedly connected to the inner wall of the sliding cavity on the side away from the connecting bolt (14).

4. The adhesive stick manipulator according to claim 3, characterized in that, The second snap-fit ​​plate (16) is fixed with a connecting plate (20), the connecting plate (20) is slidably connected with the locking seat (15), the connecting plate (20) is fixed with a third fixing plate (21), the locking seat (15) and the connecting plate (20) are both threaded on the outside, and a second limiting plate (22) is provided on the outside of the multiple connecting plates (20) and the locking seat (15).

5. The adhesive stick manipulator according to claim 4, characterized in that, The second limiting plate (22) is a nut-shaped structure, and its inner wall is provided with threads that are compatible with the outer threads of the locking seat (15) and the connecting plate (20). The second limiting plate (22) can be connected to the locking seat (15) and the connecting plate (20) respectively by thread engagement.

6. The adhesive stick manipulator according to claim 3, characterized in that, The connecting bolt (14) has an arc-shaped surface, and the bottom of the second snap-fit ​​plate (16) is in contact with the arc-shaped surface.

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