CN106181971B

CN106181971B - Used in electronic industry lift-on/lift-off type non-blind area puts together machines people

Info

Publication number: CN106181971B
Application number: CN201610766607.XA
Authority: CN
Inventors: 黄芳
Original assignee: Kunshan Ai School Science And Technology Co Ltd
Current assignee: Kunshan Ai School Science And Technology Co Ltd
Priority date: 2016-08-30
Filing date: 2016-08-30
Publication date: 2018-08-03
Anticipated expiration: 2036-08-30
Also published as: CN106181971A

Abstract

It puts together machines people the invention discloses a kind of used in electronic industry lift-on/lift-off type non-blind area, including electric cabinet and the mechanical arm assembly being connected on electric cabinet, mechanical arm assembly has the first arm body and the second arm body, first arm body is connected to by the first speed reducer in the first driving mechanism on electric cabinet, while being capable of also opposite electric cabinet progress 360 degree rotation by the synergistic effect of the first speed reducer and the first limiting device；Second arm body is connected to by the second speed reducer in the second driving mechanism and connecting seat on the first arm body, at the same also by the synergistic effect of the second speed reducer and the second limiting device can opposite first arm body carry out 360 degree rotation；In addition; first and second speed reducer is both designed as hollow structure; and the first and second shield line steel bushing is also planted in the first and second speed reducer respectively; both it is conducive to cabling; ensure that the first and second shield line steel bushing, not with wall friction in the first and second speed reducer, protects cable not interfered with any movement in revolution at a high speed.

Description

Used in electronic industry lift-on/lift-off type non-blind area puts together machines people

Technical field

The present invention relates to robotic technology fields, specifically provide a kind of used in electronic industry lift-on/lift-off type non-blind area and put together machines People.

Background technology

Industrial robot refers to the certain holding functions that can imitate human hand and arm, to press fixed routine crawl, carry object The automatic pilot of part or operation instrument.Manipulator can replace the heavy labor of people to realize the mechanization of production and automatic Change, can be operated under hostile environment to protect personal safety, thus be widely used in machine-building, metallurgy, electronics, light industry and The departments such as atomic energy.

Currently, there is also have following deficiency in production application by industrial machinery people：(1) mechanical arm is not easy to make 360 degree of rotations Rotation is made, and then influences the performance accuracy of robot entirety；(2) robot outside it mostly by being arranged drag chain come into walking Line, wiring, this is easy to that cable is made to interfere with moving component, and then influences the action of moving component, and by cable cloth Set on outside, cabling difficulty is also increased.

In view of this, special propose the present invention.

Invention content

In order to overcome drawbacks described above, put together machines people the present invention provides a kind of used in electronic industry lift-on/lift-off type non-blind area, it should The mechanical arm assembly of robot can be good at realizing that 360 degree are turned round, and cabling is laid out, protect cable not with any movement It interferes.

The present invention in order to solve its technical problem used by technical solution be：A kind of used in electronic industry lift-on/lift-off type non-blind area Put together machines people, including electric cabinet and the mechanical arm assembly that is connected on the electric cabinet, the mechanical arm assembly have First arm body and the second arm body, the first arm body and the second arm body are the strip structure body in lateral arrangement, wherein described First arm body is connected to by one first driving mechanism on the electric cabinet, and can also be in the drive of first driving mechanism Under the electric cabinet relatively carry out 360 degree rotation；The second arm body is connected to first arm by one second driving mechanism On body, and 360 degree rotation can also be carried out by the relatively described first arm body under the drive of second driving mechanism；In addition in institute It states and is also vertically provided with one on the second arm body to transmit the ball-screw of power.

As a further improvement on the present invention, the first arm body is connected to the electric cabinet by one first driving mechanism On, and can also the structure of the relatively described electric cabinet progress 360 degree rotation be under the drive of first driving mechanism：It is described First driving mechanism includes first servo motor, the first speed reducer, the first belt pulley set, the first synchronous belt and the first limit dress It sets, wherein the first servo motor and the first speed reducer are all connected on the electric cabinet, and first belt pulley set is by one To the first belt pulley set at this is set to the first belt pulley difference fixing sleeve the output shaft and described the of the first servo motor On the input terminal of one speed reducer, and this also connects the first belt pulley by first synchronous belt drive；Described first subtracts The output end of fast machine is connected to the length direction side of the first arm body by first limiting device, and described first subtracts The synergistic effect of fast machine and first limiting device also enables the relatively described electric cabinet of the first arm body to carry out 360 degree Rotation.

As a further improvement on the present invention, first limiting device includes the first protective cover, two the first limit bases Seat and the first limit ball, wherein the first protective cover positioning sleeve is set to outside first speed reducer, this two first limits Base stand location is connected between the length direction side of the first arm body and the output end of first speed reducer, and each The first limit pedestal is towards being respectively formed with a first arc-shaped limit raceway groove on the one side of first protective cover, and two A first limit raceway groove is also butted into a ring body structurc；In addition in first protective cover pedestal is limited towards described first Side on be also formed with notch the first limiting slot directed downwardly, first limiting slot and two the first limit raceway grooves match It closes, and collectively forms one for accommodating the described first the first limit channels for limiting ball.

As a further improvement on the present invention, the second arm body is arranged in the lower section of the first arm body, and described Two arm bodies are connected to by one second driving mechanism on the first arm body, and can also be in the drive of second driving mechanism Under the first arm body carries out 360 degree rotation relatively structure be：Second driving mechanism includes the second servo motor, second Speed reducer, the second belt pulley set, the second synchronous belt and the second limiting device, wherein second servo motor and second subtracts Fast machine is all connected on the first arm body, and second belt pulley set is by a pair of second belt pulley set at this is to the second belt Fixing sleeve is set on the output shaft of second servo motor and the input terminal of second speed reducer wheel respectively, and this is to second Belt pulley is also connected by second synchronous belt drive；The output end of second speed reducer is filled by second limit Set the length direction side for being connected to the second arm body, and second speed reducer and second limiting device cooperate with work 360 degree rotation is carried out with the relatively described first arm body of the second arm body is also enable.

As a further improvement on the present invention, the also positioning setting on the upper side of the second arm body length direction side There are a connecting seat, the output end of second speed reducer to be connected with the connecting seat by second limiting device.

As a further improvement on the present invention, second limiting device includes the second protective cover, two the second limit bases Seat and the second limit ball, wherein the second protective cover positioning sleeve is set to outside second speed reducer, this two second limits Base stand location is connected between the output end and the upper end of the connecting seat of second speed reducer, and in each second limit Position pedestal is towards being respectively formed with a second arc-shaped limit raceway groove on the one side of second protective cover, two described second Limit raceway groove is also butted into a ring body structurc；In addition on the side that second protective cover limits pedestal towards described second also It is formed with notch the second limiting slot directed downwardly, second limiting slot is matched with two the second limit raceway grooves, and common One is constituted for accommodating the described second the second limit channels for limiting ball.

As a further improvement on the present invention, first speed reducer and the second speed reducer are hollow structure, wherein A first shield line steel bushing vertical and to cabling is plugged in the cavity of first speed reducer, in second speed reducer A second shield line steel bushing vertical and to cabling is plugged in cavity.

As a further improvement on the present invention, first speed reducer is stretched out at the axial both ends of the first shield line steel bushing Outside, and it is described first shield line steel bushing upper shaft end positioning be plugged on in matched first belt pulley of first speed reducer, The lower shaft end of the first shield line steel bushing is connected by bearing with the length direction side of the first arm body；

The axial both ends of the second shield line steel bushing are stretched out outside second speed reducer, and the second shield line steel bushing Axial both ends are also corresponded to and the length direction other side of the first arm body and the upper end phase of the connecting seat by bearing respectively Connection.

As a further improvement on the present invention, the ball-screw includes a vertical lead screw shaft and a pair of of active nut, Two sections of ball rolling grooves are formed on the peripheral surface of the lead screw shaft, which arranges in upper and lower, and this two sections The hand of spiral of ball rolling groove is on the contrary, this is respectively screwed together in two sections of balls rollings by a plurality of balls respectively to active nut On slot, and this is also movably set on the second arm body active nut respectively；

It is additionally provided with third driving mechanism, the third driving mechanism includes third driving motor and the 4th driving motor, In, the third driving motor positioning is set on the second arm body, and can drive an active nut rotation；It is described 4th driving motor, which also positions, to be set on the second arm body, and can drive another active nut rotation, and described 4th driving motor is also run simultaneously with the third driving motor and rotation direction is opposite.

As a further improvement on the present invention, the third driving motor can drive the knot of an active nut rotation Structure is：The third driving mechanism further includes having a pair of of third belt pulley and third synchronous belt, this distinguishes third belt pulley Fixing sleeve is set to the output shaft and an active nut of the third driving motor, and this third belt pulley is also passed through it is described Third synchronous belt drive connects；

4th driving motor can drive the structure of another active nut rotation to be：The third driving mechanism Further include having the 4th belt pulley, fixing axle, a pair of 5th belt pulley and shaft coupling, the 4th belt pulley positioning is set in described On the output shaft of 4th driving motor, fixing axle positioning is set on the second arm body, the 5th belt pulley with The shaft coupling coaxial sleeve is set in the fixing axle, and another 5th belt pulley positioning sleeve is set to another active nut On, and between the 4th belt pulley and the 5th belt pulley and the shaft coupling and another 5th belt pulley Between each one the 4th synchronous belt drive that passes through respectively connect.

The beneficial effects of the invention are as follows：1. by the way that the first limit is arranged between the output end of the first speed reducer and the first arm body Position device, using the in first limiting device first limit ball sliding can realize that the first arm body carries out 360 degree and returns well Turn, and when crossing position, the first limiting slot inner wall on the first limit ball and the first protective cover collides, and is protected to form limit Shield；In addition, the edge-on wall inner surface of the edge-on wall inner surface of two first limit raceway grooves and the first limiting slot is also designed as phase Mutually coordinate tiltedly carve face structure, can effectively reduce the first limit ball with two first limit raceway grooves and the first limiting slot collision when Impact dynamics improves the service life of the first limiting device；It is same as above, the application also the output end of the second speed reducer with One the second limiting device identical with above-mentioned first limit device structure is set between connecting seat, also can be good at realization second Arm body carries out 360 degree of revolutions, improves the service life of the second limiting device.2. first and second speed reducer is designed as hollow Structure, and the first and second shield line steel bushing is planted in the first and second speed reducer respectively, both it is conducive to cabling, ensures that the first and second shield Line steel bushing, not with wall friction in the first and second speed reducer, protects cable not interfered with any movement in revolution at a high speed.

Description of the drawings

Fig. 1 is that used in electronic industry lift-on/lift-off type non-blind area of the present invention puts together machines the cross-sectional view of people；

Fig. 2 is the enlarged structure schematic diagram in the portions A shown in Fig. 1；

Fig. 3 is the enlarged structure schematic diagram in the portions B shown in Fig. 1；

Fig. 4 is the structural schematic diagram that third driving mechanism is assembled together with ball-screw shown in Fig. 1.

In conjunction with attached drawing, make the following instructions：

1 --- electric cabinet 21 --- first arm body

22 --- the second arm body 23 --- ball-screws

230 --- lead screw shaft 231 --- active nuts

3 --- the first driving mechanism 30 --- first servo motors

31 --- the first speed reducer 32 --- first synchronous belts

33 --- the first limiting device 330 --- first protective covers

331 --- the first limit pedestal 332 --- first limit balls

333 --- the first limit channels 4 --- second driving mechanisms

40 --- the second servo motor 41 --- second speed reducers

42 --- the second synchronous belt 43 --- second limiting devices

430 --- the second protective covers 431 --- second limit pedestal

432 --- the second limit ball 433 --- second limit channels

5 --- connecting seats 6 --- first protect line steel bushing

7 --- the second shield line steel bushing 80 --- third driving motors

81 --- the 4th driving motor 82 --- third synchronous belts

83 --- the 4th belt pulley 84 --- fixing axles

85 --- the 5th belt pulley 86 --- shaft couplings

Specific implementation mode

Referring to figure to a preferred embodiment of the present invention will be described in detail.

Embodiment 1：

A kind of used in electronic industry lift-on/lift-off type non-blind area puts together machines people, including electric cabinet 1 and is connected on the electric cabinet 1 Mechanical arm assembly, the mechanical arm assembly has the first arm body 21 and the second arm body 22, the first arm body 21 and the Two arm bodies 22 are the strip structure body in lateral arrangement, wherein the first arm body 21 is connected by one first driving mechanism 3 In on the electric cabinet 1, and the relatively described electric cabinet 1 it can also carry out 360 degree under the drive of first driving mechanism 3 and revolve Turn；The second arm body 22 is connected to by one second driving mechanism 4 on the first arm body 21, and can also be described second The relatively described first arm body 21 carries out 360 degree rotation under the drive of driving mechanism 4；In addition also vertical on the second arm body 22 One is provided with to transmit the ball-screw 23 of power.

In the present embodiment, the first arm body 21 is connected to by one first driving mechanism 3 on the electric cabinet 1, and Can also the structure of the relatively described progress of electric cabinet 1 360 degree rotation be under the drive of first driving mechanism 3：Described One driving mechanism 3 includes first servo motor 30, the first speed reducer 31, the first belt pulley set, the first synchronous belt 32 and first Limiting device 33, wherein the first servo motor 30 and the first speed reducer 31 are all connected on the electric cabinet 1, and described One belt pulley set is by a pair of first belt pulley set at this is set to the first servo motor 30 to the first belt pulley difference fixing sleeve Output shaft and first speed reducer 31 input terminal on, and this also passes through first synchronous belt 32 to the first belt pulley It is sequentially connected；The output end of first speed reducer 31 is connected to the first arm body 21 by first limiting device 33 Length direction side, and first speed reducer 31 and the synergistic effect of first limiting device 33 also make first arm Body 21 being capable of the relatively described progress of electric cabinet 1 360 degree rotation.

Preferably, first limiting device 33 includes 330, two first limit pedestals 331 and first of the first protective cover Limit ball 332, wherein 330 positioning sleeve of the first protective cover is set to outside first speed reducer 31, this two first limits Pedestal 331 is located by connecting between the length direction side and the output end of first speed reducer 31 of the first arm body 21, Length direction side of the side of i.e. this two first limit pedestals 331 with the first arm body 21 is located by connecting, this two Output end of the other side of first limit pedestal 331 with first speed reducer 31 is located by connecting, and each described first Limit pedestal 331 is towards being respectively formed with a first arc-shaped limit raceway groove on the one side of first protective cover 330, two The first limit raceway groove is also butted into a ring body structurc, can avoid the stuck and unexpected abrasion of the second limit ball；In addition in institute It states and is also formed with notch the first limiting slot directed downwardly, institute on the side that the first protective cover 330 limits pedestal 331 towards described first It states the first limiting slot to match with two the first limit raceway grooves, and collectively forms one for accommodating the first limit ball 332 the first limit channels 333.The first arm body 360 can be achieved in the first limit ball sliding used in the first limiting device 33 Degree revolution, and when crossing position, the first limiting slot inner wall on the first limit ball and the first protective cover collides, to form limit Position protection；In addition, also the edge-on wall inner surface of the edge-on wall inner surface of two first limit raceway grooves and the first limiting slot is designed Face structure tiltedly is carved to be mutually matched, the first limit ball and two first limit raceway grooves can be effectively reduced and the first limiting slot collides When impact dynamics, improve the service life of the first limiting device.

In the present embodiment, the second arm body 22 is arranged in the lower section of the first arm body 21, and the second arm body 22 are connected to by one second driving mechanism 4 on the first arm body 21, and can also be in the drive of second driving mechanism 4 Under the first arm body 21 carries out 360 degree rotation relatively structure be：Second driving mechanism 4 includes the second servo motor 40, the second speed reducer 41, the second belt pulley set, the second synchronous belt 42 and the second limiting device 43, wherein second servo Motor 40 and the second speed reducer 41 are all connected on the first arm body 21, and second belt pulley set is by a pair of second belt pulley Composition, this is set to the second belt pulley difference fixing sleeve the output shaft and second speed reducer 41 of second servo motor 40 Input terminal on, and this to the second belt pulley also pass through second synchronous belt 42 be sequentially connected；Second speed reducer 41 Output end the length direction side of the second arm body 22 is connected to by second limiting device 43, and described second subtracts The synergistic effect of fast machine 41 and second limiting device 43 also enables the 22 relatively described first arm body of the second arm body 21 carry out 360 degree rotation.

Preferably, also positioning is provided with a connecting seat 5, institute on the upper side of the 22 length direction side of the second arm body The output end for stating the second speed reducer 41 is connected by second limiting device 43 with the connecting seat 5, i.e. the second driving machine Structure 4 is realized and the second arm body 22 is driven to carry out 360 degree rotation by driving connecting seat 5 to carry out 360 degree rotation.

Preferably, second limiting device 43 includes 430, two second limit pedestals 431 and second of the second protective cover Limit ball 432, wherein 430 positioning sleeve of the second protective cover is set to outside second speed reducer 41, this two second limits Pedestal 431 is located by connecting between the output end and the upper end of the connecting seat 5 of second speed reducer 41, i.e., this two second It limits output end of the side of pedestal 431 with second speed reducer 41 to be located by connecting, this two second limit pedestal 431 Upper end of the other side with the connecting seat 5 is located by connecting, and anti-towards described second in each second limit pedestal 431 A second arc-shaped limit raceway groove is respectively formed on the one side of shield 430, two the second limit raceway grooves are also butted into One ring body structurc can avoid the stuck and unexpected abrasion of the second limit ball；In addition in second protective cover 430 towards described It is also formed with notch the second limiting slot directed downwardly on the side of two limit pedestals 431, second limiting slot and two described the Two limit raceway grooves match, and collectively form one for accommodating the described second the second limit channels 433 for limiting ball 432.It uses The 360 degree of revolutions of the second arm body can be achieved in the second limit ball sliding in second limiting device 43, and when crossing position, the second limit The second limiting slot inner wall on position ball and the second protective cover of high rigidity collides, to form position limitation protection；In addition, also by two The edge-on wall inner surface of second limit raceway groove and the edge-on wall inner surface of the second limiting slot are designed as mutually matched tiltedly carving face Structure can effectively reduce impact dynamics when the second limit ball and two second limit raceway grooves and the collision of the second limiting slot, improve The service life of second limiting device.

In the present embodiment, first speed reducer, 31 and second speed reducer 41 is hollow structure, wherein described A first shield line steel bushing 6 vertical and to cabling is plugged in the cavity of one speed reducer 31, in second speed reducer 41 A second shield line steel bushing 7 vertical and to cabling is plugged in cavity.First and second speed reducer is designed as hollow knot Structure, and the first and second shield line steel bushing is planted in the first and second speed reducer respectively, both it is conducive to cabling, ensures that the first and second shield line Steel bushing, not with wall friction in the first and second speed reducer, protects cable not interfered with any movement in revolution at a high speed.

Preferably, the axial both ends of the first shield line steel bushing 6 are stretched out outside first speed reducer 31, and described first The upper shaft end positioning of shield line steel bushing 6 is plugged on matched first belt pulley of first speed reducer, and described first protects line The lower shaft end of steel bushing 6 is connected by bearing with the length direction side of the first arm body 21；

The axial both ends of the second shield line steel bushing 7 are stretched out outside second speed reducer 41, and the second shield line steel The axial both ends of set 7 are also corresponded to and the length direction other side of the first arm body 21 and the connecting seat 5 by bearing respectively Upper end be connected.

In the present embodiment, the ball-screw 23 includes a vertical lead screw shaft 230 and a pair of of active nut 231, institute It states and is formed with two sections of ball rolling grooves on the peripheral surface of lead screw shaft 230, which arranges in upper and lower, and this two sections The hand of spiral of ball rolling groove is on the contrary, this is respectively screwed together in two sections of balls by a plurality of balls respectively to active nut 231 On rolling groove, and this is also movably set in active nut 231 respectively on the second arm body 22；

It is additionally provided with third driving mechanism, the third driving mechanism includes third driving motor 80 and the 4th driving motor 81, wherein the positioning of third driving motor 80 is set on the second arm body 22, and can drive an active nut 231 rotations；4th driving motor 81, which also positions, to be set on the second arm body 22, and can drive another active Nut 231 rotates, and the 4th driving motor 81 is also run simultaneously with the third driving motor 80 and rotation direction phase Instead.Third and fourth driving motor is run simultaneously and rotation direction is opposite, it can be achieved that by the balancing out motions on lead screw shaft circumferencial direction, It is only remaining to be axially moved.

Preferably, the structure that the third driving motor 80 can drive the active nut 231 to rotate is：Described Three driving mechanisms further include having a pair of of third belt pulley and third synchronous belt 82, this is distinguished fixing sleeve to third belt pulley and is set to The output shaft of the third driving motor 80 and an active nut 231, and this also passes through the third to third belt pulley Synchronous belt 82 is sequentially connected；

The structure that 4th driving motor 81 can drive another active nut 231 to rotate is：The third is driven Motivation structure further includes having the 4th belt pulley 83, fixing axle 84, a pair of 5th belt pulley 85 and shaft coupling 86, the 4th belt pulley 83 positioning are set on the output shaft of the 4th driving motor 81, and the positioning of the fixing axle 84 is set to the second arm body 22 On, the 5th belt pulley 85 is set to 86 coaxial sleeve of the shaft coupling in the fixing axle 84, another 5th belt 85 positioning sleeves are taken turns on another active nut 231, and 83 and 1 the 5th belt pulley 85 of the 4th belt pulley it Between and the shaft coupling 86 and another 5th belt pulley 85 between each one the 4th synchronous belt drive that passes through respectively connect It connects.In addition in this application, the first, second, third and fourth servo motor attachment is each provided with cable switching device, is worn so as to reduce The cable for crossing the first and second shield line steel bushing, is conducive to cabling.

Claims

The people 1. a kind of used in electronic industry lift-on/lift-off type non-blind area puts together machines, including electric cabinet (1) and it is connected to the electric cabinet (1) On mechanical arm assembly, it is characterised in that：The mechanical arm assembly has the first arm body (21) and the second arm body (22), institute It states the first arm body (21) and the second arm body (22) is strip structure body in lateral arrangement, wherein the first arm body (21) is logical It crosses one first driving mechanism (3) to be connected on the electric cabinet (1), and can also be in the drive of first driving mechanism (3) Under the electric cabinet (1) relatively carry out 360 degree rotation, concrete structure is：First driving mechanism (3) includes the first servo electricity Machine (30), the first speed reducer (31), the first belt pulley set, the first synchronous belt (32) and the first limiting device (33), wherein institute State first servo motor (30) and the first speed reducer (31) be all connected on the electric cabinet (1), first belt pulley set by A pair of first belt pulley set at, this to the first belt pulley difference fixing sleeve be set to the first servo motor (30) output shaft and On the input terminal of first speed reducer (31), and this is also driven the first belt pulley by first synchronous belt (32) and connected It connects；The output end of first speed reducer (31) is connected to the first arm body (21) by first limiting device (33) Length direction side, and the synergistic effect of first speed reducer (31) and first limiting device (33) also makes described the One arm body (21) being capable of relatively described electric cabinet (1) the progress 360 degree rotation；

The second arm body (22) is connected to by one second driving mechanism (4) on the first arm body (21), and can also be The relatively described first arm body (21) carries out 360 degree rotation under the drive of second driving mechanism (4)；In addition in second arm One is also vertically provided on body (22) to transmit the ball-screw (23) of power.
The people 2. used in electronic industry lift-on/lift-off type non-blind area according to claim 1 puts together machines, it is characterised in that：Described first Limiting device (33) includes the first protective cover (330), two the first limit pedestals (331) and the first limit ball (332), In, the first protective cover (330) positioning sleeve is set to first speed reducer (31) outside, this two first limit pedestals (331) It is located by connecting between the length direction side and the output end of first speed reducer (31) of the first arm body (21), and Each first limit pedestal (331) is arc-shaped towards being respectively formed with one on the one side of first protective cover (330) First limit raceway groove, two the first limit raceway grooves are also butted into a ring body structurc；In addition in first protective cover (330) It is also formed with notch the first limiting slot directed downwardly, first limiting slot on towards the side of the first limit pedestal (331) It is matched with two the first limit raceway grooves, and collectively forms one and limited for accommodating the first of the first limit ball (332) Bit port (333).
The people 3. used in electronic industry lift-on/lift-off type non-blind area according to claim 1 puts together machines, it is characterised in that：Described second Arm body (22) is arranged in the lower section of the first arm body (21), and the second arm body (22) passes through one second driving mechanism (4) Be connected on the first arm body (21), and can also under the drive of second driving mechanism (4) relatively described first arm Body (21) carry out 360 degree rotation structure be：Second driving mechanism (4) includes the second servo motor (40), the second deceleration Machine (41), the second belt pulley set, the second synchronous belt (42) and the second limiting device (43), wherein second servo motor (40) it is all connected on the first arm body (21) with the second speed reducer (41), second belt pulley set is by a pair of second belt Wheel composition, this is set to the output shaft of second servo motor (40) and described second to the second belt pulley difference fixing sleeve and slows down On the input terminal of machine (41), and this is also sequentially connected to the second belt pulley by second synchronous belt (42)；Described second The output end of speed reducer (41) is connected to the length direction one of the second arm body (22) by second limiting device (43) Side, and second speed reducer (41) and the synergistic effect of second limiting device (43) also make the second arm body (22) It being capable of relatively described first arm body (21) the progress 360 degree rotation.
The people 4. used in electronic industry lift-on/lift-off type non-blind area according to claim 3 puts together machines, it is characterised in that：Described Also positioning is provided with a connecting seat (5) on the upper side of two arm body (22) length direction sides, second speed reducer (41) Output end is connected by second limiting device (43) with the connecting seat (5).
The people 5. used in electronic industry lift-on/lift-off type non-blind area according to claim 4 puts together machines, it is characterised in that：Described second Limiting device (43) includes the second protective cover (430), two the second limit pedestals (431) and the second limit ball (432), In, the second protective cover (430) positioning sleeve is set to second speed reducer (41) outside, this two second limit pedestals (431) It is located by connecting between the output end and the upper end of the connecting seat (5) of second speed reducer (41), and each described Two limit pedestals (431) are towards being respectively formed with a second arc-shaped position-limited groove on the one side of second protective cover (430) Road, two the second limit raceway grooves are also butted into a ring body structurc；In addition in second protective cover (430) towards described It is also formed with notch the second limiting slot directed downwardly on the side of two limit pedestals (431), described in second limiting slot and two Second limit raceway groove matches, and collectively forms one for accommodating the described second the second limit channels for limiting ball (432) (433)。
The people 6. used in electronic industry lift-on/lift-off type non-blind area according to claim 4 puts together machines, it is characterised in that：Described first Speed reducer (31) and the second speed reducer (41) are hollow structure, wherein being plugged in the cavity of first speed reducer (31) One first shield line steel bushing (6) vertical and to cabling, is plugged with one vertically simultaneously in the cavity of second speed reducer (41) To the second shield line steel bushing (7) of cabling.
The people 7. used in electronic industry lift-on/lift-off type non-blind area according to claim 6 puts together machines, it is characterised in that：Described first First speed reducer (31) is stretched out outside in the axial both ends of shield line steel bushing (6), and the upper shaft end of the first shield line steel bushing (6) Positioning is plugged on matched first belt pulley of first speed reducer, and the lower shaft end of the first shield line steel bushing (6) is logical Bearing is crossed with the length direction side of the first arm body (21) to be connected；

Second speed reducer (41) is stretched out outside in the axial both ends of the second shield line steel bushing (7), and the second shield line steel The axial both ends for covering (7) are also corresponded to and the length direction other side of the first arm body (21) and the connection by bearing respectively The upper end of seat (5) is connected.
The people 8. used in electronic industry lift-on/lift-off type non-blind area according to claim 1 puts together machines, it is characterised in that：The ball Leading screw (23) includes a vertical lead screw shaft (230) and a pair of of active nut (231), on the peripheral surface of the lead screw shaft (230) Two sections of ball rolling grooves are formed with, two sections of ball rolling grooves are in arrangement, and the hand of spiral of two sections of ball rolling grooves up and down On the contrary, this is respectively screwed together in by a plurality of balls on two sections of ball rolling grooves active nut (231) respectively, and this is to actively Nut (231) is also movably set in respectively on the second arm body (22)；

It is additionally provided with third driving mechanism, the third driving mechanism includes third driving motor (80) and the 4th driving motor (81), wherein third driving motor (80) positioning is set on the second arm body (22), and can drive a master Dynamic nut (231) rotation；4th driving motor (81) also positions and is set on the second arm body (22), and can drive Another active nut (231) rotation, and the 4th driving motor (81) is also synchronous with third driving motor (80) It runs and rotation direction is opposite.
The people 9. used in electronic industry lift-on/lift-off type non-blind area according to claim 8 puts together machines, it is characterised in that：The third Driving motor (80) can drive the structure of the active nut (231) rotation to be：The third driving mechanism further includes having A pair of of third belt pulley and third synchronous belt (82), this is set to the third driving motor to third belt pulley difference fixing sleeve (80) the active nut (231) of output shaft and one, and this also passes through the third synchronous belt (82) to third belt pulley It is sequentially connected；

4th driving motor (81) can drive the structure of another active nut (231) rotation to be：The third is driven Motivation structure further includes having the 4th belt pulley (83), fixing axle (84), a pair of 5th belt pulley (85) and shaft coupling (86), and described the Four belt pulleys (83) positioning is set on the output shaft of the 4th driving motor (81), and fixing axle (84) positioning is set to On the second arm body (22), the 5th belt pulley (85) is set to the fixing axle with the shaft coupling (86) coaxial sleeve (84) on, another 5th belt pulley (85) positioning sleeve is set on another active nut (231), and the 4th belt Take turns between (83) and the 5th belt pulley (85) and the shaft coupling (86) and another 5th belt pulley (85) it Between each one the 4th synchronous belt drive that passes through respectively connect.