CN101664932B - Robot arm - Google Patents

Abstract

The invention relates to a mechanical arm mechanism, especially a device used in a grain sorting machine or a crystal bonding machine, which can simultaneously drive two sets of vacuum suction nozzle devices to carry out the action of picking and placing grains, and can conveniently adjust the loading and unloading of the grains. pressure, and a dual-arm setup with a downforce sensor. The mechanical arm of the present invention consists of rear arm (401), support plate (407), insulating ring (406), rear arm electrode screw (402), electrode screw nut (405), elastic sheet (409), forearm (411 ), a forearm electrode (415), a pressure regulating rod (403), a pressure regulating nut (404), a spring (410), a vacuum nozzle (412) and a vacuum nozzle connector (413), at one end of the rear arm (401) Front end fixes an elastic sheet (409), elastic sheet (409) front end and a forearm (411) are fixed together, there is a vacuum suction nozzle quick release structure etc. to form at forearm (411) front end. The mechanical arm of the invention has the advantages of simple structure, convenient adjustment, smooth movement, greatly improved efficiency, conforming to economic benefits, and having industrial production value.

Description

a mechanical arm

technical field

The invention relates to a mechanical arm mechanism, especially a device used in a grain sorting machine or a solid crystal machine, which can simultaneously drive two sets of vacuum suction nozzle devices to carry out grain pick-and-place actions, and can conveniently adjust the loading and unloading of the grains. pressure, and a dual-arm setup with a downforce sensor.

Background technique

In the production process of light-emitting diode crystal grains, the whole wafer is produced first, and the wafer is divided into independent crystal grains that are completely separated from each other after dicing, and are independently adhered to the sticky blue film. In the subsequent wafer sorting process, the die sorter needs to use a vacuum nozzle device to pick up the die from the blue film and place it in the specified position; or in the subsequent die bonding process, the die bonding machine needs to use a The vacuum nozzle device picks up the die from the blue film and places it in the specified position; this action needs to be completed by using the die handling mechanical arm mechanism. Chinese patent literature disclosed a utility model patent titled "Grain pick-and-place arm structure of a grain sorter" on September 28, 2005. The publication number of this patent is CN2728728Y. The technical points disclosed are: An actuating pick-and-place arm mechanism 20 is provided on the grain sorting machine 10, and the actuated pick-and-place mechanism 20 includes a drivable actuating actuating arm 30 and a connecting seat 40, wherein the actuating arm 30 is provided at the front end A suction nozzle vacuum joint quick release device, which contains a suction nozzle vacuum joint 32 and a suction nozzle 33 capable of absorbing crystal grains, and a spring leaf 34 is screwed on the upper side, and its actuating arm 30 is at the rear end A connection block 35 is extended, and the connection block 35 is connected with a connection seat 40 connected to the selection machine 10 with a bearing 36. The bottom surface of the connection block 35 is combined with a fixed seat 37. A pressure adjustment group 41 and a level adjustment group 42 are arranged axially on the front end surface of the seat 40, and a rod body 43 extends into a spring 44 and is integrally fixed on the pressure adjustment group 41. There is an adjustment button to adjust the contact pressure In addition, the horizontal adjustment group 42 has a screw 45 screwed in to adjust the level of the arm. The above die pick-and-place arm structure has certain practical value and adjustment ability, but there are still some shortcomings in use: 1. Each pick-and-place mechanical arm mechanism can only install a set of vacuum suction nozzle device, and use the mechanical arm to swing back and forth to align the crystal. In this way, the working time is wasted when the mechanical arm puts down the die and returns to the pick-up position, and the overall efficiency is low; 2. It is impossible to easily adjust the downward force of the mechanical arm on the die; 3. It is impossible to easily perceive the operation on it Whether the downforce of the chip meets the operation requirements; 4. The structure is complicated, the failure rate is high, and it is not economical. Therefore, only a set of vacuum suction nozzle device can be installed on the traditional die pick-and-place mechanical arm to swing back and forth for die pick-and-place action, and the downforce of the die being transported cannot be easily adjusted, nor can it be easily sensed by the robotic arm. Whether the down force of the transported die meets the operation requirements.

Contents of the invention

The object of the present invention is to propose a dual mechanical arm mechanism that can conveniently adjust the predetermined downward pressure on the crystal grains and can conveniently measure when the downward pressure requirements on the grains are met according to the above-mentioned deficiencies in the prior art. The two actions of picking up and putting down can be completed at the same time, and the efficiency can be greatly improved.

The object of the present invention is realized by the following technical solutions:

The mechanical arm of the present invention consists of rear arm 401, support plate 407, insulating ring 406, rear arm electrode screw 402, electrode screw nut 405, elastic sheet 409, forearm 411, forearm electrode 415, pressure adjustment rod 403, pressure adjustment nut 404, a spring 410, a vacuum nozzle 412 and a vacuum nozzle connector 413 are formed. An elastic sheet 409 is fixed at the front end of one end of the rear arm 401. The front end of the elastic sheet 409 is fixed with a forearm 411. There is a vacuum nozzle at the front end of the forearm 411 for quick release. structure, including a vacuum nozzle 412 and a vacuum nozzle connector 413, there is a hollow structure 417 at the front end of the rear arm 401, and the rear extension 416 of the forearm passes through the hollow structure 417 at the front end of the rear arm 401 and does not connect with the rear The arm 401 is in contact, and a pressure adjustment rod 403 is connected and fixed to the extension 416 of the rear part of the front arm, and a forearm electrode 415 is connected and fastened to the extension 416 of the rear part of the front arm, and a support plate 407 is fixed above the end of the rear arm 401. There is a hole on the 407, and the forearm pressure adjustment rod 403 passes through the hole and can slide freely in the hole. A pressure adjustment nut 404 is threaded on the pressure adjustment rod 403, and a spring 410 is worn under the pressure adjustment nut 404 simultaneously. On the adjustment rod 403, the spring 410 can be in contact with the pressure adjustment nut 404 and the support plate 407. There is another hole on the support plate 407, and an insulating ring 406 is fastened in the hole. There is a threaded hole on the insulating ring 406, and a threaded connection is made. Rear arm electrode screw 402, an electrode screw nut 405 is threaded on the rear arm electrode screw 402. After installation, the rear arm electrode screw 402 contacts the front arm electrode 415, and the current between the front arm 411 and the rear arm electrode screw 402 can be conducted ; There is a corresponding same mechanism at the other end of the rear arm 401; the middle part of the rear arm 401 has a mounting hole 414 connected with the drive mechanism.

The mechanical arm of the invention has the advantages of simple structure, convenient adjustment, smooth movement, greatly improved efficiency, conforming to economic benefits, and having industrial production value.

Description of drawings

Figure 1 is a schematic diagram of the three-dimensional combined appearance of the utility model;

Fig. 2 is the three-dimensional exploded schematic view of the utility model;

The implementation schematic diagram of Fig. 3 the utility model;

The implementation schematic diagram of Fig. 4 the utility model;

Fig. 5 is a schematic diagram of implementation of the utility model.

Detailed ways

Below in conjunction with accompanying drawing, the utility model feature and extremely relevant feature are further described:

Refer to attached drawings 1 to 5, the numbers in the figure are as follows: 401--rear arm, 402--rear arm electrode screw, 403--pressure adjustment rod, 404--pressure adjustment nut, 405--electrode screw nut, 406 --Insulation ring, 407--support plate, 408--elastic sheet fixing screw, 409--elastic sheet, 410--spring, 411--forearm, 412--vacuum nozzle, 413--vacuum nozzle connector, 414--rear arm installation hole, 415--forearm electrode, 416--forearm rear extension, 417--rear arm front end hollow, 418-support plate screw, 419-screw, 420-rack.

A kind of mechanical arm of the present invention is to install a mechanical arm mechanism on the frame 420 of the grain sorting machine or the solid crystal machine, and this kind of mechanical arm consists of a rear arm 401, a support plate 407, an insulating ring 406, and a rear arm electrode screw 402. , electrode screw nut 405, elastic sheet 409, forearm 411, forearm electrode 415, pressure adjustment rod 403, pressure adjustment nut 404, spring 410, vacuum nozzle 412 and vacuum nozzle joint 413, and a front end of rear arm 401 is fixed Elastic piece 409, the front end of elastic piece 409 is fixed together with a forearm 411, there is a vacuum nozzle quick release structure at the front end of forearm 411, including a vacuum nozzle 412 and a vacuum nozzle connector 413, there is a hollow at the front end of the rear arm 401 Structure 417, the forearm rear extension 416 passes through the front end hollow structure 417 of the rear arm 401 and does not contact the rear arm 401, a pressure adjustment rod 403 is connected and fixed at the rear arm extension 416, and another The extension 416 is connected and fastened with a forearm electrode 415, and a support plate 407 is fixed above the end of the rear arm 401. There is a hole in the support plate 407, and the forearm pressure regulating rod 403 passes through this hole and can slide freely in the hole. A pressure adjustment nut 404 is threaded on the adjustment rod 403, and a spring 410 is threaded on the pressure adjustment rod 403 below the pressure adjustment nut 404. The spring 410 can be in contact with the pressure adjustment nut 404 and the support plate 407. There is a hole, and an insulating ring 406 is fastened in the hole. There is a threaded hole on the insulating ring 406, and a rear arm electrode screw 402 is threaded, and an electrode screw nut 405 is threaded on the rear arm electrode screw 402. After the installation is completed, The back arm electrode screw 402 is in contact with the front arm electrode 415 , and the current between the front arm 411 and the rear arm electrode screw 402 can be conducted. There is a corresponding identical mechanism at the other end of the rear arm 401 . There is a mounting hole 414 in the middle of the rear arm 401 to be connected with the driving mechanism.

During specific implementation, the driving mechanism can drive the rear arm 401 to perform rotation, swing and up-down movement, and the vacuum suction nozzle 412 installed at the front end of the forearm 411 can perform pick-and-place operations on the crystal grains. Taking the structure of one end of the rear arm 401 as an example, when the driving mechanism drives the rear arm 401 to rotate, the rear arm 401 can drive the forearm 411 to rotate and swing through the elastic piece 409 . When the driving mechanism drives the rear arm 401 to move up-down, the back arm 401 drives the forearm 411 to move up-down through the elastic piece 409, the support plate 407, the insulating ring 406, the spring 410, and the pressure regulating rod 403. By rotating the pressure adjustment nut 404 threaded on the pressure adjustment rod 403, the pressure adjustment nut 404 can move up and down on the pressure adjustment rod 403, and then the compression of the spring 410 between the pressure adjustment nut 404 and the support plate 407 can be adjusted degree. When the rear arm 401 drives the forearm 411 to do a downward movement and the vacuum suction nozzle 412 installed on the forearm 411 does not touch the crystal grain, or the vacuum suction nozzle 412 installed on the forearm 411 contacts the crystal grain, but the downward pressure does not exceed the setting value, the rear arm electrode screw 402 is in contact with the forearm electrode 415, and the current between the forearm 411 and the rear arm electrode screw 402 can be conducted, as shown in FIG. 4 . When the rear arm 401 drives the forearm 411 to do a downward movement and make the vacuum suction nozzle 412 installed on the forearm 411 contact the grain and the downward pressure exceeds the set value, the rear arm electrode screw 402 is separated from the forearm electrode 415, and the forearm 411 and the rear arm The current of the electrode screw 402 cannot be conducted, as shown in FIG. 5 . By measuring whether the current of the forearm 411 and the rear arm electrode screw 402 is conducted, it can be known whether the downward force of the vacuum suction nozzle 412 installed on the forearm 411 on the die meets the requirements. By adjusting the compression degree of the spring 410 , the predetermined downward force of the vacuum nozzle 412 mounted on the forearm 411 on the crystal grains can be adjusted. When the pressure adjusting nut 404 compresses the spring 410, the spring force increases, and the predetermined downward force of the vacuum suction nozzle 412 installed on the forearm 411 on the grain also increases; when the pressure adjusting nut 404 relaxes the spring 410, the spring force decreases, and then The predetermined downward force of the vacuum nozzle 412 mounted on the forearm 411 on the die is also reduced.

During specific implementation, the driving mechanism can drive the mechanical arm to swing back and forth by 180°. When the driving mechanism drives the mechanical arm to move the vacuum suction nozzle 412 on the mechanical arm to the designated wafer position, the driving device stops swinging and drives the mechanical arm to descend. The vacuum suction nozzle 412 on one mechanical arm performs the action of picking up the wafer, while the other The vacuum suction nozzle 412 on the robot arm puts the wafer picked up last time into an appropriate position. Afterwards, the driving device drives the mechanical arm to rise, and then rotates 180°. After putting down the wafer, the vacuum nozzle 412 moves to the wafer pick-up position, and the vacuum nozzle 412 with the picked-up wafer moves to the lower position, and the driving mechanism drives The mechanical arm descends, and the two vacuum suction nozzles 412 carry out the action of picking up and putting down respectively. Repeatedly, within one action cycle, the dual-arm mechanism can simultaneously complete the pick-up and put-down actions, which is twice as efficient as the traditional single-arm pick-and-place mechanism.

Although the conception and embodiments according to the purpose of the present invention have been described in detail above with reference to the accompanying drawings, those skilled in the art can recognize that various modifications to the present invention can still be made without departing from the scope of the claims. Improvements and changes, but such improvements and changes should still belong to the protection scope of the present invention.

Claims (2)

1. mechanical arm, it is characterized in that, by postbrachium (401), gripper shoe (407), dead ring (406), postbrachium electrode screw (402), electrode screw-nut (405), flexure strip (409), forearm (411), forearm electrode (415), pressure adjusting lever (403), pressure adjusting nut (404), spring (410), vacuum slot (412) and vacuum slot joint (413) are formed, fix a flexure strip (409) at postbrachium (401) one end front ends, flexure strip (a 409) front end and a forearm (411) are fixed together, at forearm (411) front end one vacuum slot quick-disassembly structure is arranged, comprise a vacuum slot (412) and a vacuum slot joint (413), at this end front end of postbrachium (401) one hollow structure (417) is arranged, the forearm rear portion is extended (416) and is passed and do not contact with postbrachium (401) from this front end hollow structure (417) of postbrachium (401), extend (416) at this forearm rear portion and be fixedly connected with a pressure adjusting lever (403), extend (416) connection in addition at this forearm rear portion and be fastened with a forearm electrode (415), in this end upper fixed one gripper shoe (407) of postbrachium (401), gripper shoe has a hole on (407), pressure adjusting lever (403) from then on passes and can be free to slide in the hole in the hole, a pressure adjusting nut (404) has been threaded on this pressure adjusting lever (403), there is a spring (410) to be through on the pressure adjusting lever (403) in pressure adjusting nut (404) below simultaneously, this spring (410) can contact with pressure adjusting nut (404) and gripper shoe (407), gripper shoe has a hole on (407) in addition, a fastening dead ring (406) in the hole, a screwed hole is arranged on this dead ring (406), a postbrachium electrode screw (402) has been threaded, an electrode screw-nut (405) has been threaded on this postbrachium electrode screw (402), after the installation, forearm electrode (415) contact therewith of this postbrachium electrode screw (402), this forearm (411) postbrachium electrode screw (402) electric current therewith can conducting, at the other end of postbrachium (401) a corresponding same mechanism is arranged.

2. a kind of mechanical arm according to claim 1 is characterized in that: postbrachium (401) middle part has an installing hole (414) and is connected with driving mechanism.

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