CN105690359A - Mechanical arm - Google Patents

Abstract

The invention discloses a mechanical arm comprising an arm body and a suction head, wherein the suction head comprises a rotating segment and a fixed segment which are connected; the rotating segment is rotationally arranged on the arm body by taking an axis as the rotating axis; a suction hole is formed in the fixed segment; and a hole axis of the suction hole is not overlapped with the axis.

Description

Mechanical arm

Technical field

The present invention relates to a kind of mechanical arm, particularly a kind of mechanical arm with absorption heads。

Background technology

In order to reduce pollution and improve yield, semiconductor industry often utilizes one or more mechanical arm porter's workpiece, for instance Silicon Wafer or other electronic chip, thereby to carry out follow-up processing or testing electrical property。

It is said that in general, when mechanical arm is assembled in a support, owing to assembling the relation of tolerance, position and original desired use position after mechanical arm assembling will produce deviation, are now necessary for mechanical arm is positioned correction。Common positioning correction method positions correction for directly mobile overall mechanical arm。But, this kind of positioning correcting mode military order user feels extremely inconvenience。

Summary of the invention

In view of the above problems, a kind of mechanical arm with absorption heads of disclosure, wherein the one of absorption heads draws hole and an axis non-overlapping。Thereby, contribute to simply mechanical arm being positioned correction。

Disclosure one mechanical arm, comprises an arm body and an absorption heads。Absorption heads comprises connected one and rotates section and a canned paragraph。Rotating Duan Yiyi axis is that axis of rotation is rotationally arranged at arm body。Canned paragraph has an absorption hole, and draws an axle center, hole and the axis non-overlapping in hole。

In mechanical arm disclosed by the invention, draw axle center, hole and the axis non-overlapping in hole。When the rotation section of absorption heads rotates for axis of rotation opposing arms body with axis, rotate section and drive canned paragraph to rotate in the lump, and make absorption hole relative axis move。Thereby, user only needs the position in rotary suction head and fine-tuning absorption hole slightly, can position correction without overall mechanical arm is carried out dismounting, be favorably improved the work efficiency of positioning correcting mechanical arm。

The above explanation about present invention and the explanation of following embodiment are to demonstrate and explain principles of the invention, and provide the claims to the present invention further to explain。

Accompanying drawing explanation

Fig. 1 is the schematic perspective view of mechanical arm according to an embodiment of the invention。

Fig. 2 is another schematic perspective view of mechanical arm according to an embodiment of the invention。

Fig. 3 is the decomposing schematic representation of Fig. 1。

Fig. 4 is the decomposing schematic representation of Fig. 2。

Fig. 5 is the cut-away illustration of mechanical arm according to an embodiment of the invention。

Fig. 6 be rotating machinery arm according to an embodiment of the invention absorption heads under look schematic diagram。

Fig. 7 be the absorption heads of rotating machinery arm according to an embodiment of the invention another under look schematic diagram。

Fig. 8 is the close-up schematic view of Fig. 7。

Symbol description:

1 mechanical arm

10 arm bodies

100 end faces

110 bottom surfaces

120 sides

130 first perforatings

140 slits

150 second perforatings

160 arm ends

170 confined planes

180 bleed runner

20 absorption heads

200 canned paragraphs

201 draw hole

210 rotate section

211 passages

212 peep poles

30 closures

40 suction nozzles

400 suction nozzle holes

410 grooves

50 closure members

A1 axis

Axle center, A2 hole

Spacing between axle center, D hole and axis

Interval between S slit and arm end

T path

X first direction

Y second direction

The θ anglec of rotation

Detailed description of the invention

Hereinafter detailed features and the advantage of the present invention are described in embodiments in detail, its content is enough to make any relevant art of haveing the knack of understand the technology contents of the present invention and implement according to this, and according to content disclosed in this specification, claims and Figure of description, any relevant art of haveing the knack of can be readily understood upon purpose and the advantage that the present invention is correlated with。Below example further describes the viewpoint of the present invention, but non-to limit scope of the invention anyways。

Referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5。Fig. 1 is the schematic perspective view of mechanical arm according to an embodiment of the invention。Fig. 2 is another schematic perspective view of mechanical arm according to an embodiment of the invention。Fig. 3 is the decomposing schematic representation of mechanical arm according to an embodiment of the invention。Fig. 4 is another decomposing schematic representation of mechanical arm according to an embodiment of the invention。Fig. 5 is the cut-away illustration of mechanical arm according to an embodiment of the invention。

In the present embodiment, a mechanical arm 1 comprises arm body 10, absorption heads 20, closure 30 and a suction nozzle 40。

The material of arm body 10 is such as aluminium alloy, and it has end face 100, bottom surface 110, two side faces 120,1 first perforating 130, slit 140 and one second perforating 150。End face 100 lays respectively at relative two sides of arm body 10 with bottom surface 110。Two side faces 120 lays respectively at relative two sides of arm body 10, and all between end face 100 and bottom surface 110。First perforating 130 runs through end face 100 and bottom surface 110。End face 100, bottom surface 110 and two side faces 120 are collectively forming an arm end 160 of arm body 10 towards the direction extension away from the first perforating 130。In the present embodiment, arm end 160 is a surface of the one end being positioned at arm body 10, and four edges on surface are connected to end face 100, bottom surface 110 and two side faces 120, but the present invention is not limited thereto。In other embodiments, arm end 160 can be an edge or a tip。Slit 140 extends towards arm end 160 from the first perforating 130, and runs through end face 100 and bottom surface 110。Second perforating 150 is perpendicular to the first perforating 130, and runs through two side faces 120 and intersect with slit 140。In the present embodiment, keeping an interval S between slit 140 and arm end 160, the function as slit 140 will in follow-up explanation。

Absorption heads 20 comprises a connected canned paragraph 200, and rotates section 210 and one spacing section 220。Rotate section 210 and be rotatably arranged in the first perforating 130 of arm body 10 with an axis A1 for axis of rotation, and canned paragraph 200 and spacing section 220 are revealed in outside arm body 10。Rotate section 210 and be rotationally arranged at the first perforating 130 of arm body 10 with an axis A1 for axis of rotation。Canned paragraph 200 has an absorption hole 201, and rotation section 210 has passage 211 and a peep pole 212。Passage 211 connects absorption hole 201 with peep pole 212, and peep pole 212 is positioned at the one end rotating section 210 away from canned paragraph 200。Passage 211 is between peep pole 212 and passage 211。Between rotating between section 210 and canned paragraph 200, and there is a wall 221 for spacing section 220。Wall 221 has two relative lateral margin 221a。Passage 211, peep pole 212 and spacing section 220 function will in follow-up explanation。

It should be noted that axle center, the hole A2 and axis A1 non-overlapping that draw hole 201。In the present embodiment, axle center, hole A2 parallels to the axis A1, and keeps a space D (please referring initially to Fig. 6, look schematic diagram under the absorption heads for rotating machinery arm according to an embodiment of the invention), but the present invention is not limited thereto。In other embodiments, axle center, hole A2 can press from both sides an angle with axis A1。It addition, in the present embodiment, the value of the space D between axle center, hole A2 and axis A1 is less than or equal to 1.00 millimeters。It is preferred that the value of the space D between axle center, hole A2 and axis A1 is 0.40 millimeter to 0.70 millimeter, but the present invention is not limited thereto。In other embodiments, the value of space D can be arbitrary value。

Closure 30 is such as a screw, and it is locked in the second perforating 150, and makes two internal faces that arm body 10 is positioned at slit 140 draw close mutually, and then makes the aperture of the first perforating 130 reduce and the external diameter of the rotation section 210 of close-fitting absorption heads 20。Thereby, contribute to making absorption heads 20 be fixedly arranged on arm body 10。In the present embodiment, owing to keeping interval S between slit 140 and arm end 160, therefore help avoid arm body 10 and produce metal fatigue in arm end 160 place。Specifically, when arm body 10 is positioned at after two internal faces of slit 140 repeatedly draw close mutually, interval S contributes to the structural strength of lift arm body 10, and avoids arm body 10 to produce the plastic deformation that cannot restore in arm end 160 place, with the service life of extension arm body 10, but the present invention is not limited thereto。In other embodiments, it is possible to by selecting suitable material to make arm body 10, and make slit 140 directly run through arm end 160, take into account service life simultaneously。

Suction nozzle 40 has a suction nozzle hole 400 and a groove 410 of corresponding canned paragraph 200。Canned paragraph 200 is sticked in groove 410, and makes suction nozzle 40 be fixed on canned paragraph 200, and suction nozzle hole 400 is connected and the coaxial heart with drawing hole 201 simultaneously。Thereby, suction nozzle 40 contributes to the pickup work package such as Silicon Wafer or electronic chip more easily。

Additionally, mechanical arm 1 more comprises a closure member 50。Closure member 50 is such as a screw, and it is locked on from end face 100 and covers peep pole 212 in first perforating 130。Thereby, closure member 50 helps avoid the dust in air and is attached to the rotation section 210 of the arm body 10 sidewall in the first perforating 130 and absorption heads 20。

It addition, arm body 10 has more a confined planes 170。Confined planes 170 is erected in bottom surface 110 and the contiguous confined planes 170 of the first perforating 130。The wall 221 of spacing section 220 is towards confined planes 170。When the rotation section 210 opposing arms body 10 of absorption heads 20 rotates, the one of two lateral margin 221a of wall 221 interference with confined planes 170 and limit to rotate section 210 an anglec of rotation θ, make anglec of rotation θ less than or equal to 90.0 degree (degrees)。It is preferred that the scope of anglec of rotation θ between 40.0 degree to 90.0 degree (please referring initially to Fig. 7, for the absorption heads of rotating machinery arm according to an embodiment of the invention another under look schematic diagram), but the present invention is not limited thereto。In other embodiments, arm body 10 can not have confined planes 170, and makes rotation section 210 arbitrarily to rotate by opposing arms body 10。

Furthermore, arm body 10 is internal can have runner 180 of bleeding, and it is used for being connected to an air extractor (being such as that a vacuum is helped out with money, do not illustrate)。Hole 201 and runner 180 of bleeding are drawn in passage 211 connection, and make absorption hole 201 be connected to air extractor。In the present embodiment, passage 211 connects runner 180 of bleeding, but the present invention is not limited thereto。In other embodiments, arm body 10 can not have runner 180 of bleeding, and passage 211 is then connected to air extractor by an exterior line。

The occupation mode of following description mechanical arm。Referring to Fig. 6, Fig. 7 and Fig. 8。Fig. 8 is the close-up schematic view of Fig. 7。

In the present embodiment, when user needs mechanical arm 1 is positioned timing, user gets loose closure 30 and makes the rotation section 210 of absorption heads 20 to rotate by opposing arms body 10。Meanwhile, user removes closure member 50 and can pass through peep pole 212 and confirm the position corresponding to a working face (namely placing a plane of work package, do not illustrate), the suction nozzle hole 400 drawing hole 201 and suction nozzle 40 of canned paragraph 200。Then, user rotates absorption heads 20, and makes rotation section 210 with axis A1 for axis of rotation opposing arms body 10 rotation angles degree θ。Rotate section 210 to rotate and drive canned paragraph 200 to rotate in the lump。When canned paragraph 200 rotates, owing to axle center, hole A2 parallels to the axis A1 and keep space D, therefore draw hole 201 relative axis A1 and move (as shown in Figure 8) along a path T。Specifically, path T meets following condition: T=D θ。Thereby, user only needs rotary suction head 20 can correct the position drawing hole 201 along a first direction X easily。When behind the position completing correction absorption hole 201 X in the first direction, user can drive motor to make mechanical arm 1 suitably rotate a rotation amount, draws hole 201 and along the position of a second direction Y and then and makes absorption hole 201 positioning correcting of mechanical arm 1 to desired use position to adjust。Thereby, overall mechanical arm 1 need not be carried out dismounting and can position correction by user。

In sum, in the mechanical arm that the invention discloses, draw axle center, hole and the axis non-overlapping in hole。When the rotation section of absorption heads rotates for axis of rotation opposing arms body with axis, rotate section and drive canned paragraph to rotate in the lump, and make absorption hole relative axis move。Thereby, user only needs the position in rotary suction head and fine-tuning absorption hole slightly, can position correction without overall mechanical arm is carried out dismounting, be favorably improved the work efficiency of positioning correcting mechanical arm。

Although the present invention is with aforesaid preferred embodiment openly as above; so it is not limited to the present invention; any it has the knack of alike those skilled in the art; without departing from the spirit and scope of the present invention; when doing a little change and retouching, therefore the scope of patent protection of the present invention must be as the criterion depending on the defined person of this specification appending claims。

Claims (10)

1. a mechanical arm, it is characterised in that comprise:

One arm body；And

One absorption heads, comprises connected one and rotates section and a canned paragraph, and this rotation Duan Yiyi axis is that axis of rotation is rotationally arranged at this arm body, and this canned paragraph has an absorption hole, and an axle center, hole in this absorption hole and this axis non-overlapping。

2. mechanical arm as claimed in claim 1, it is characterised in that wherein this arm body has one first perforating, this rotation section wears this first perforating, and this canned paragraph to be revealed in this arm external。

3. mechanical arm as claimed in claim 2, it is characterized in that, wherein this arm body has more a confined planes and a bottom surface, and this confined planes is erected in this bottom surface, this first perforating is positioned at this bottom surface this confined planes contiguous, and this confined planes is in order to limit to the anglec of rotation of this absorption heads。

4. mechanical arm as claimed in claim 3, it is characterized in that, wherein this absorption heads more comprises one spacing section, this spacing section connects this rotation section and this canned paragraph, and between this rotation section and this canned paragraph, this spacing section has the wall towards this confined planes, and this wall has two relative lateral margins, when this absorption heads rotates, the one of this two lateral margin of this wall is interferenceed with this confined planes and is limited to the anglec of rotation of this absorption heads。

5. mechanical arm as claimed in claim 3, it is characterised in that wherein the rotation angle range of this absorption heads is 40.0 degree to 90.0 degree。

6. mechanical arm as claimed in claim 2, it is characterized in that, more comprise a suction nozzle, wherein this suction nozzle has a suction nozzle hole and to should a groove of canned paragraph, this canned paragraph is sticked in this groove and makes this suction nozzle be fixed on this canned paragraph, and this suction nozzle hole and this coaxial heart in absorption hole。

7. mechanical arm as claimed in claim 2, it is characterized in that, more comprise a closure member, wherein the hole axle in this absorption hole is parallel to this axis of this rotation section, this arm body has a relative end face and a bottom surface, and this first perforating runs through this end face and this bottom surface, and this rotation section has a peep pole, this peep pole connects this absorption hole, and this closure member covers this peep pole from this end face。

8. mechanical arm as claimed in claim 2, it is characterized in that, more comprise a closure, wherein this arm body has one second perforating, a relative end face and a bottom surface and relative two side faces, this first perforating runs through this end face and this bottom surface, this two side faces is between this end face and this bottom surface, this end face, this bottom surface and this two side faces are collectively forming an arm end of this arm body towards the direction extension away from this first perforating, this arm body has the slit extended from this first perforating towards this arm end, this slit runs through this end face and this bottom surface, and keep an interval between this slit and this arm end, this second perforating is perpendicular to this first perforating, and run through this two side faces and intersect with this slit, this closure can be locked in this second perforating, and make the external diameter of this rotation section of aperture this absorption heads of close-fitting of this first perforating, to fix this absorption heads。

9. mechanical arm as claimed in claim 1, it is characterised in that wherein this absorption heads has more a passage, and this passage connects this absorption hole, and in this arm body, portion has runner of bleeding, and this passage of this absorption heads connects this runner of bleeding。

10. mechanical arm as claimed in claim 1, it is characterised in that wherein the hole axis parallel in this absorption hole is in this axis of this rotation section, and keeps a spacing, and this spacing is 0.40 millimeter to 0.70 millimeter。