CN109202955A - Box transfer arm and the conveyer for having it - Google Patents
Box transfer arm and the conveyer for having it Download PDFInfo
- Publication number
- CN109202955A CN109202955A CN201811319907.9A CN201811319907A CN109202955A CN 109202955 A CN109202955 A CN 109202955A CN 201811319907 A CN201811319907 A CN 201811319907A CN 109202955 A CN109202955 A CN 109202955A
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- Prior art keywords
- retarder
- connecting rod
- main body
- box transfer
- arm
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- 238000012546 transfer Methods 0.000 title claims abstract description 45
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 239000003638 chemical reducing agent Substances 0.000 claims description 35
- 230000009467 reduction Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 description 12
- 238000004891 communication Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000013139 quantization Methods 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000011265 semifinished product Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
Abstract
The present invention relates to the machine operation structures of box transfer arm, wherein above-mentioned box transfer arm is used to be responsible for the conveyer for moving out and moving in automatically processing of cargo, and a kind of box transfer arm is provided as embodiment, the box transfer with arm there is main body rack and symmetrical first link arm and second connecting rod limb, the first link arm to connect the crotch moved in the horizontal direction relative to the main body rack with described second connecting rod limb.The box transfer arm includes: driving motor, is configured at the main body rack；First retarder receives the rotary force of the driving motor and rotates first link arm relative to the main body rack；Joint portion is made described second connecting rod limb be pivotably coupled to the first link arm, and has the rotation transmission axle rotated with speed corresponding with the output shaft of the driving motor；And second retarder, rotary force is received from the rotation transmission axle, so that described second connecting rod limb be made to rotate relative to the crotch.
Description
Technical field
The present invention relates to the machine operation structures that arm is used in box (cassette) transfer, wherein above-mentioned box transfer arm is for bearing
Duty cargo moves out and moves in automatically conveyer (stocker) of processing etc..
Background technique
Conveying machine people (stocker robot) is to commute as an element for embodying warehousing system
Between intensive shelf, to load storage object to shelf or take out the storage object stored and move out to external automation machine
Device people.
Can be used for a variety of industrial circles using the foundation of the Automated Warehouse System of conveying machine people, so far compared to
The commodity of size random distribution are more the lifes for being only capable of being classified as applied to size and weight in the manufacturing works of a few species
Produce store keeping or semi-finished product processing etc..
Conveying machine people will be promptly and correctly to move repeatedly between shelf intensive to greatest extent, therefore needs
Want higher reliability.Also, it when mechanical disorder occurs, in order to quickly restart storehouse management as much as possible, therefore also wants
It is convenient for safeguarding.
Moreover, with the development of technology, the weight (weight of brilliant box) of the unit article that conveying machine people can undertake by
Gradually rise.The driving method for being responsible for the box transfer arm of small weight in the past has not been suitable for high weight conveying machine people.
[existing technical literature]
[patent document]
KR published patent the 10-2007-0000146th (on 01 02nd, 2007)
KR published patent the 10-2012-0066747th (on 06 25th, 2012)
KR published patent the 10-2005-0062870th (on 06 28th, 2005)
Summary of the invention
The technical problem to be solved in the present invention
The present invention provides a kind of the novel of the box transfer arm of simplicity for being able to achieve operating reliability and capable of improving maintenance
Structure, and the conveying machine people using it.
In addition, expert in the art and researcher clearly can grasp and understand according to the particular content of following record
Specific purposes of the invention.
Technical solution
In order to solve the above technical problems, the present invention provides a kind of box transfer arm, above-mentioned box transfer as embodiment
There is main body rack and symmetrical first link arm and second connecting rod limb, above-mentioned first link arm and above-mentioned second with arm
Link arm connects the crotch moved in the horizontal direction relative to aforementioned body bracket.Above-mentioned box transfer arm includes: driving motor,
It is configured at aforementioned body bracket；First retarder receives the rotary force of above-mentioned driving motor and makes first link arm relative to upper
State main body rack rotation；Joint portion makes above-mentioned second connecting rod limb be pivotably coupled to above-mentioned first link arm, and have with
The rotation transmission axle of the corresponding speed rotation of the output shaft of above-mentioned driving motor；And second retarder, it is transmitted from above-mentioned rotation
Axis receives rotary force, so that above-mentioned second connecting rod limb be made to rotate relative to above-mentioned crotch.
Wherein, above-mentioned first retarder and above-mentioned second retarder can be cycloidal reducer, above-mentioned first retarder
Reducer shell knot can be incorporated into above-mentioned first connecting rod together in aforementioned body bracket, the output shaft of above-mentioned first retarder
Arm, the reducer shell of above-mentioned second retarder can be incorporated into above-mentioned second connecting rod limb, the output shaft of above-mentioned second retarder
Above-mentioned crotch can be incorporated into.
At this point it is possible to which the reduction ratio 1/N2 of the reduction ratio 1/N1 of above-mentioned first retarder and above-mentioned second retarder is set
To meet mathematical expression 1/N1=1/ (N2+1).
On the other hand, the input shaft of above-mentioned first retarder is protruded to above-mentioned first link arm, and above-mentioned input shaft can lead to
Cross the above-mentioned rotation transmitting axis connection of band (Belt) and above-mentioned joint portion.
On the other hand, the above-mentioned rotation transmission axle of above-mentioned joint portion is protruded to the inside of above-mentioned second connecting rod limb, above-mentioned rotation
Turning transmission axle can be connect by band (Belt) with above-mentioned second retarder.
Moreover, input shaft and the above-mentioned rotation transmission axle of the input shaft of above-mentioned first retarder, above-mentioned second retarder
Be formed as hollow shaft, to enable the circuit communication line being formed between above-mentioned crotch and aforementioned body bracket by above-mentioned first
The inside of link arm and second connecting rod limb and prevent it by externalities.
And it is possible to by be formed in the left and right above-mentioned driving motor of a pair of aforementioned body bracket any one
Independent rotation, to execute alignment of the above-mentioned crotch relative to the position of aforementioned body bracket.
On the other hand, a kind of conveyer is provided comprising: main body rack；Crotch；And box transfer as described above is used
Arm moves above-mentioned crotch in the horizontal direction relative to aforementioned body bracket.
Beneficial effect
According to an embodiment of the invention, removing for operating precision can be improved to realize by the operating of control driving motor
Send the operating of system.In particular, using the independent action of arm by box transfer, it can realize that proper alignment is aligned easily, and use
Simple structure, therefore the simplicity of maintenance can be improved.Also, it can be suitably used for that high re-quantization high-power conveying is gradually presented
System.
In addition, expert in the art and researcher can be according to the particular contents of following record or in the implementation present invention
During, clearly grasp and understand effect of the invention.
Detailed description of the invention
Fig. 1 is the solid of the inside for the conveyer for showing the box transfer arm of embodiment according to the present invention and having it
Figure.
Fig. 2 is the top view for being shown in the embodiment of Fig. 1.
Fig. 3 is the top view for schematically showing the embodiment for being shown in Fig. 2.
Fig. 4 is the top view for showing the rotation direction for the embodiment for being shown in Fig. 3.
Fig. 5 is the top view for showing the use state for the embodiment for being shown in Fig. 3.
Fig. 6 is the side view for schematically showing the embodiment for being shown in Fig. 2.
Description of symbols
200: conveyer 210: main body rack
220: crotch 100: arm
10: 11: the first retarder of first link arm
N1: input shaft H1: reducer shell
U1: output shaft T: synchronous belt
S: tensioner 111: tooth-like part
112: through hole 20: second connecting rod limb
21: the second retarder N2: input shaft
H2: reducer shell U2: output shaft
30: joint portion 31: bearing unit
32: rotation transmission axle 40: driving motor
L: circuit communication line
Specific embodiment
Illustrate referring to the drawings structure, the function of box transfer arm according to the present invention and the conveyer for having it with
And effect.Moreover, using unified appended drawing reference for same or similar structural element in the accompanying drawings.
Also, the terms such as " first " in explanation, " second ", which will be used in facilitate, below distinguishes art-recognized meanings in phase homotype
Enclose interior structural element.Some structure can be arbitrarily named as to " first structure " or " the second structure ".
Attached drawing is solely to show that applicable embodiment of the invention, therefore cannot limit with reference to the accompanying drawings and explain this hair
Bright technical idea.Understand from the angle of expert of the art, is not belonging to carry out an invention some or all of in attached drawing necessary
When shape, apperance and sequence, these can't limit the present invention for being documented in claims.
In order to help to understand the content of invention, it will be screened in the attached drawing of part and schematic drawing be shown with and help understand invention core
The primary structure of the heart.
Also, conveyer (stocker) is equipped with normalized for transferring, loading, move out in the following description
The transfer arm of cartridge (cartridge) or brilliant box (cassette), and it is as robot or automatic machinery device packet
Include the meaning of so-called Stacking Robots (stacker robot).
Fig. 1 to Fig. 6 is related to the conveyer 200 for being provided with box transfer arm of embodiment according to the present invention.
Box transfer uses arm 100 to have as the element of connection main body rack 210 and crotch (fork frame) 220
First link arm (link arm) 10 and second connecting rod limb 20.When looking down, box transfer with arm 100 shape in a manner of symmetrical
At there is a pair.
Though it is not illustrated, the top of the coaster moved along track is arranged in main body rack, and it is configured in water
Plane is rotated, and is also adjustable height.
The structure for making main body rack realize movement on the ground, adjust height and the device in the rotation of horizontal plane etc.
With operating etc., can be identical as the well-known technique having disclosed.
Crotch 220 is component of the support as the brilliant box (not shown) for entering and leaving object.Multiple sensings are installed in crotch 220
Device is confirmed whether for brilliant box to be placed in thought position or reads the state of brilliant box and lift brilliant box or monitoring crotch to reach
Operating reliability etc. multiple purposes.
Box transfer is formed with a pair with arm 100 in a manner of symmetrical, and is operated in symmetrical mode.
Some box transfer arm 100 is observed it is found that first link arm 10 and second connecting rod limb 20 are with connecting rod (Link) side
Formula is connected to main body rack 210 and crotch 220.The box transfer of left and right is operated with arm in symmetrical mode, to make crotch
220 move along a straight line relative to main body rack 210 in horizontal plane.
The side of first link arm 10 is connect by the first retarder 11 with main body rack 210, and the other side passes through joint portion
30 are rotatably attached with second connecting rod limb 20.
Referring to Fig. 6 it is found that the first retarder 11 is the cycloidal reducer (cycloid reducer) for taking turns disk shape, i.e. institute
The planetary pinwheel retarder (cyclo reducer) of meaning.
Input shaft N1, reducer shell H1 and the output shaft U1 of cycloidal reducer are exposed to outside, and input shaft N1 makees
Retarder is penetrated through along the vertical direction for hollow tube body and is exposed.Also, it is exposed to the defeated of the upper and lower part of retarder respectively
The outer peripheral surface for entering axis is formed with tooth-like part 111, is used to connect aftermentioned synchronous belt T.
Wherein, the internal structure of cycloidal reducer has the multiple rings formed in ring gear (ring gear) shell
Shape gear pin, cycloidal-pin wheel, eccentric cam etc., and the structure of these constituent elements and drive manner are same as the prior art,
Therefore repeated explanation is omitted.
Furthermore, it is possible to which the similar harmonic speed reducer of service firing principle (harmonic reducer) replaces cycloid reduction
Device.It is illustrated in the description of the invention using cycloidal reducer situation, but harmonic wave can be used in other embodiments and subtract
Fast device.
In the state that the reducer shell H1 of the first retarder 11 is fixed on main body rack 210, make output shaft U1 connection
In first link arm 10, to make first link arm 10 rotate according to the result of the deceleration operating of the first retarder 11.
The input shaft N1 of first retarder 11 connect with driving motor 40 and receives rotary force.The driving motor 40 setting exists
Main body rack 210.In attached drawing, the output shaft of driving motor 40 is connect by synchronous belt T with the input shaft N1 of the first retarder 11,
However the output shaft of driving motor and the input shaft of the first retarder can also be made to be directly connected to, or pass by additional power
Pass mechanism connection.
Second connecting rod limb 20 is pivotably coupled to the other end of first link arm by joint portion 30.2nd link arm 20
Be formed as the form for being superimposed on the top of first link arm 10, therefore can prevent first link arm 10 and second connecting rod limb 20 from rotating
When interfere with each other (referring to Fig. 3 and Fig. 5).
Joint portion 30 includes bearing unit 31, which can make first link arm 10 and second connecting rod limb 20 in water
Connection mutually can be rotatably realized in plane.Wherein, it can choose as bearing unit 31 using permission second connecting rod limb
20 while rotate freely in the horizontal plane relative to first link arm 10, supports a variety of known of the load of second connecting rod limb 20
One in composition.
In turn, the rotation transmission axle independently rotated freely in the rotation center setting of joint portion 30 with bearing unit 31
32.Rotation transmission axle 32 surrounded by bearing unit 31 above-mentioned and multiple independent bearings, so that it is guaranteed that with first connecting rod
The mode that the position or rotation of arm 10 or second connecting rod limb 20 are unrelated rotates freely.
The rotation transmission axle 32 protrudes from the upper and lower part of bearing unit respectively.It is exposed to the upper and lower rotation of bearing unit
Turn to form the tooth-like part for connecting aftermentioned synchronous belt T on the outer peripheral surface of transmission axle 32.
The rotation transmission axle 32 of 31 lower part of bearing unit is protruded from by synchronous belt T and is protruded from inside first link arm 10
The input shaft N1 of the first retarder 11 be connected.Therefore, the rotary force of driving motor 40 passes through the input of the first retarder 11
Axis N1 and synchronous belt T is fully transferred to rotation transmission axle 32.That is, the output shaft of driving motor 40 and rotation transmission axle 32 are with phase
Same angular speed is rotated.
By utilizing synchronous belt T, the angular speed of 40 output shaft of driving motor can be accurately transferred to rotation transmission axle
32.The tensioner S of the tension for adjusting synchronous belt is illustrated in Fig. 1 and Fig. 2.
It is different from, known different gear units can be used also to replace synchronous belt.
On the other hand, the other end of the second connecting rod limb 20 being connected by joint portion 30 with first link arm 10 is connect
On crotch 220.At this point, the second retarder 21 is for connecting second connecting rod limb 20 and crotch 220.
In the illustrated embodiment, the second retarder 21 uses cycloidal reducer as the first retarder 11.Second
Harmonic speed reducer can be used to replace cycloidal reducer as the first retarder in retarder.
Only, the reducer shell H2 of the second retarder 21 is incorporated into second connecting rod limb 20, the output of the second retarder 21
Axis U2 is fixed on crotch 220.The input shaft N2 of second retarder 21 protrudes from the inside of second connecting rod limb 20, passes through synchronous belt
T is connected with the rotation transmission axle 32 of joint portion 30 and receives rotary force.The power transmitting of second retarder and rotation transmission axle
Unit can be changed to different a variety of known features except synchronous belt.
When output shaft U2 is fixed on crotch 220 and reducer shell H2 and second connecting rod limb 20 in the second retarder 21
When being connected, the operating of the second retarder 21 makes output shaft U2 be in fixed state and makes reducer shell H2 and second connecting rod
Arm 20 rotates together.
(i.e. output shaft U2 is fixed on crotch 220 and inhibits rotation the connection type of second retarder 21, and is incorporated into second
The rotatable connection type of reducer shell H2 of link arm 20) with reducer shell be fixed on ontology shell and output shaft in conjunction with
It is opposite in the connection type of the first retarder of first link arm.
It is necessary to consider the reduction ratio difference by its bring in the second retarder.When the output shaft in cycloidal reducer
When rotating shell in the state of fixation, since the number of ring gear pin and the tooth-like part of cycloid wheel disc has differences, with
Normal state (in the state that shell is fixed, when output shaft rotates) is compared, and gear ratio increases by 1.For example, normally operating
In the case of, when gear ratio is 1/119, for the present invention, such as the second retarder is in the state of fixed output shaft, shell
The reduction ratio rotated be 1/ (119+1), i.e., 1/120.
On the other hand, due to being shown in the angle A of each component of Fig. 3: the ratio of B:C should remain 1:2:
1, it is therefore necessary to by the actual deceleration of the first retarder 11 and the second retarder 21 than matching be identical.
Therefore, it is designed as when the reduction ratio of the second retarder is 1/N2, the first retarder 1/N1 meets following mathematical expression
1。
[mathematical expression 1]
1/N1=1/ (N2+1)
The actual deceleration of the first retarder and the second retarder ratio can be adjusted to as a result, it is identical, thus ensure crotch exist
Correct linear movement on horizontal plane.
Specific example is lifted, when the reduction ratio of the second retarder 21 is 1/119, the reduction ratio of the first retarder 11 is selected
It is 1/120, so that the actual deceleration of the first retarder 11 and the second retarder 21 is identical 1/120 than matching.
With reference to Fig. 4, it is illustrated to according to the rotation direction of the first, second retarder.
Main explanation is located at the box transfer arm 100 on figure right side, it should be noted that the relationship of itself and the box transfer arm in left side is
Symmetrically.
In order to which crotch 220 is pulled to main body rack 210, first link arm 10 is by the first retarder 11 as rotary shaft along suitable
Clockwise is rotated, and second connecting rod limb 20 rotates the second retarder 21 as rotary shaft in the counterclockwise direction.
The output shaft of driving motor 40 is rotated in the counterclockwise direction, to pass through the first retarder of connection band connection
The input shaft N2 of 11 input shaft N1, rotation transmission axle 32 and the second retarder 21 are rotated in the counterclockwise direction.
Relative to the input shaft of the first retarder rotated in the counterclockwise direction, first link arm 10 is to slow down as phase
When the speed in reduction ratio is rotated along clockwise direction.In this way, input shaft and output shaft are opposite in the first retarder
The form in direction is identical as the common rotation direction of cycloidal reducer.
In the second retarder 21, it when output shaft is fixed on crotch 220, can not achieve rotation, instead, be fixed on second
The reducer shell of link arm 20, which will be realized, to be rotated, at this time the direction of rotation phase of the direction of rotation of reducer shell and input shaft
Together.That is, input shaft and reducer shell are rotated in same direction, and the rotation of this decelerating casing in the second retarder
It is identical as the counter clockwise direction of the direction of rotation as second connecting rod limb 20 to turn direction.
By adjusting the reduction ratio of previously described first retarder 11 and the second retarder 21 and matching according to driving
The rotation direction of the retarder of the direction of rotation of motor 40 can accurately execute box transfer arm by a driving motor
100 operating.
In another embodiment (not shown), the first retarder of installation and the second retarder can also be upsided down, specifically,
The output shaft of first retarder is fixed on main body rack, and the reducer shell of the first retarder is fixed on first link arm, and
The output shaft of second retarder is in conjunction with second connecting rod limb, and the reducer shell of the second retarder is in conjunction with crotch.
At this point, the reduction ratio of the second retarder is chosen to be 1/ (n1+1) when the reduction ratio of the first retarder is 1/n1,
So as to which the actual deceleration of the first retarder and the second retarder ratio is adjusted to identical 1/ (n1+1).Specifically, for
For first retarder, output shaft is fixed, and reducer shell is rotated, therefore actual deceleration ratio is 1/ (n1+1), phase
Instead, for the second retarder, reducer shell is fixed, and output shaft is rotated, therefore the deceleration of the second retarder
1/ (n1+1) is chosen to be than being matched with the actual deceleration ratio of the first retarder.
Referring again to the embodiment of diagram, left and right box transfer is mechanically separated from each other composition with arm 100, and using logical
The tuning control of respective driving motor 40 is crossed to ensure the structure of the symmetrical operating of box transfer arm 100.
When left and right box transfer arm 100 is separately constructed, the position of the crotch 220 easy to accomplish for main body rack 210
Alignment.
Specifically, in the state of pulling crotch 220 in a manner of closely relative to main body rack 210, main body can be confirmed
Whether the level of the end of the front face and crotch 220 of bracket 210.It wherein, can be by utilizing distance whether the level of the two
The well-known technique of sensor or angular transducer etc. is realized, also, the position of the crotch from the front face for main body rack
The result of measurement it is also seen that the two it is horizontal whether.
If it is confirmed that crotch 220 is relative to the skew of main body rack 210, then any one of left and right driving motor 40 can be with
It further rotates, so as to realize alignment in the front face of main body rack 210 mode parallel with the end of crotch 220.
On the contrary, box transfer arm in left and right is mutually undivided to exist in the prior art following disadvantage: when initial setting position
When setting entanglement, separate section part is needed to realign operation to realize.
In turn, the input shaft N1 of the first retarder 11, the second retarder 21 input shaft N1 and rotation transmission axle 32 by
The hollow shaft for having hole 112 up and down is constituted.Be arranged in the circuit communication line L of multiple sensors of crotch 220 to pass through in
The mode of the through hole 112 of empty axis configures, so that the wiring of circuit communication line can be neat is contained in 10 He of first link arm
In second connecting rod limb 20.
Thus, it is possible to solve to be exposed to caused by outside pollution problem due to circuit communication line or due to being connect with outside
Disconnection problem caused by touching.Also, the link arm of metal material can play the role of the fender of covering outer electromagnetic wave etc.,
So as to which the noise of electric signal is greatly reduced.
Servo motor can be used as driving motor 40 or improve the novel stepper motor of position accuracy.Left and right
Accurate symmetrical operating of the accurate symmetrical operating of box transfer arm dependent on the driving motor 40 that the left and right sides is arranged in.By
In the raising of the control precision for the driving motor developed, operating control accurately can be carried out with arm to two box transfers
System.In the prior art, symmetrical operating is generally ensured with arm by mechanically coupling left and right box transfer, however, with this
The prior art is compared, and the present invention has the advantages that the factor in assembly error, gap as caused by wearing etc. can be excluded.
Also, the mechanical structure for having the box transfer arm 100 of the first retarder 11, joint portion 30 and the second retarder 21
At element, simplification has occurred compared with prior art.Therefore, easily and rapidly it can be dismantled and be re-assemblied, thus
Greatly improve the convenience of the maintenance of box transfer arm.
In turn, it is suitable for mitigating the same of the load of the works of box transfer arm using the power delivery mode of synchronous belt T
When, moreover it is possible to big power is transferred to the second retarder 21 that crotch 220 is arranged in.This feature is highly suitable for brilliant box
Bearing load gradually increases and presents the conveyer of high re-quantization trend.
In crotch 220, using only the second retarder 21 as each second connecting rod for combining left and right box transfer arm 100
The element of arm 20.
A part in the prior art, the rotary shaft of left and right second connecting rod is connected by connecting band or gear, thus with object
The mode that reason combines tunes the rotation of second connecting rod limb, so that left and right second connecting rod can realize oppositely operating.This physics knot
Closing unit increases the volume for the crotch end for being combined with second connecting rod limb.Exactly, due to for installing additional connection
The reinforcement structure object of band or gear causes the thickness of crotch and load to increase.In this case, from the bottom of main body rack to
The height of the upper end of crotch increases, this realizes the same of the minimum of apron space with the volume that reduces conveyer to the greatest extent
When, it is ensured that the nearest trend of bigger bearing space runs in the opposite direction.
On the contrary, unlike the prior art, the physics that the present invention does not have any pulling into tune or so second connecting rod limb is strong
Unit processed, therefore the height of crotch can be reduced.
Claims (5)
1. a kind of box transfer arm, described with main body rack and left and right symmetrical first link arm and second connecting rod limb
First link arm connects the crotch moved in the horizontal direction relative to the main body rack with described second connecting rod limb,
The box transfer includes: with arm
Driving motor is configured at the main body rack；
First retarder receives the rotary force of the driving motor and rotates first link arm relative to the main body rack；
Joint portion makes described second connecting rod limb be pivotably coupled to the first link arm, and has with electric with the driving
The rotation transmission axle of the equal speed rotation of the output shaft of machine；And
Second retarder receives rotary force from the rotation transmission axle, to make described second connecting rod limb relative to the crotch
Rotation.
2. box transfer arm according to claim 1, wherein
First retarder and second retarder are cycloidal reducers,
The reducer shell of first retarder is incorporated into the main body rack, and the output shaft of first retarder is incorporated into
The first link arm,
The reducer shell of second retarder is incorporated into described second connecting rod limb, and the output shaft of second retarder combines
In the crotch,
Reduction ratio 1/N2, the reduction ratio 1/N1 of first retarder relative to second retarder meet mathematical expression 1/N1
=1/ (N2+1).
3. box transfer arm according to claim 1, wherein
Axially the first link arm is protruded for the input of first retarder,
The input shaft is connected by band with the rotation transmission axle of the joint portion.
4. box transfer arm according to claim 1, wherein
The inside protrusion of axial described second connecting rod limb of rotation transmitting of the joint portion, the rotation transmission axle pass through band
It is connect with second retarder.
5. a kind of conveyer comprising:
Main body rack；
Crotch；And
Box transfer arm described in any one in claim 1 to claim 4, enables the crotch relative to described
Main body rack moves in the horizontal direction.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319907.9A CN109202955A (en) | 2018-11-07 | 2018-11-07 | Box transfer arm and the conveyer for having it |
| PCT/CN2019/116257 WO2020094093A1 (en) | 2018-11-07 | 2019-11-07 | Cassette transfer arm and transport system comprising same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811319907.9A CN109202955A (en) | 2018-11-07 | 2018-11-07 | Box transfer arm and the conveyer for having it |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109202955A true CN109202955A (en) | 2019-01-15 |
Family
ID=64995408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811319907.9A Pending CN109202955A (en) | 2018-11-07 | 2018-11-07 | Box transfer arm and the conveyer for having it |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109202955A (en) |
| WO (1) | WO2020094093A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020094093A1 (en) * | 2018-11-07 | 2020-05-14 | 引先自动化科技（苏州）有限公司 | Cassette transfer arm and transport system comprising same |
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| CN101356043A (en) * | 2006-11-09 | 2009-01-28 | 株式会社Ihi | Frog-leg-arm robot and its control method |
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| KR20130101682A (en) * | 2012-03-06 | 2013-09-16 | 주식회사 에스비비테크 | Wafer handling blade unit of wafer transfer apparatus |
| CN103707320A (en) * | 2012-09-28 | 2014-04-09 | 株式会社安川电机 | Robot arm and robot |
| JP2014103156A (en) * | 2012-11-16 | 2014-06-05 | Yaskawa Electric Corp | Substrate transfer robot and substrate transfer method |
| CN104924301A (en) * | 2014-03-19 | 2015-09-23 | 株式会社安川电机 | Carrying system and motion correcting method for carrying robot |
| CN209063131U (en) * | 2018-11-07 | 2019-07-05 | 引先自动化科技（苏州）有限公司 | Box transfer arm and the conveyer for having it |
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|---|---|---|---|---|
| US5080549A (en) * | 1987-05-11 | 1992-01-14 | Epsilon Technology, Inc. | Wafer handling system with Bernoulli pick-up |
| JP5525399B2 (en) * | 2010-09-16 | 2014-06-18 | 東京エレクトロン株式会社 | Transport device, substrate processing system, and attitude control mechanism |
| CN103662821B (en) * | 2012-08-31 | 2016-03-30 | 鸿富锦精密工业（深圳）有限公司 | Handling device |
| CN205328202U (en) * | 2015-12-29 | 2016-06-22 | 天津大学 | Large -scale LCD glass substrate transfer robot |
| CN205996967U (en) * | 2016-07-25 | 2017-03-08 | 昆山威创自动化科技有限公司 | Articulated arm mechanical hand |
| CN206857699U (en) * | 2017-04-14 | 2018-01-09 | 六安德测电子科技有限公司 | It is a kind of to be used to capture the manipulator for transferring kinds of goods |
| CN109202955A (en) * | 2018-11-07 | 2019-01-15 | 引先自动化科技（苏州）有限公司 | Box transfer arm and the conveyer for having it |
-
2018
- 2018-11-07 CN CN201811319907.9A patent/CN109202955A/en active Pending
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2019
- 2019-11-07 WO PCT/CN2019/116257 patent/WO2020094093A1/en active Application Filing
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| CN101356043A (en) * | 2006-11-09 | 2009-01-28 | 株式会社Ihi | Frog-leg-arm robot and its control method |
| CN101549493A (en) * | 2008-06-19 | 2009-10-07 | 大连理工大学 | Double-arm glass substrate carrying robot |
| KR20130101682A (en) * | 2012-03-06 | 2013-09-16 | 주식회사 에스비비테크 | Wafer handling blade unit of wafer transfer apparatus |
| CN103707320A (en) * | 2012-09-28 | 2014-04-09 | 株式会社安川电机 | Robot arm and robot |
| JP2014103156A (en) * | 2012-11-16 | 2014-06-05 | Yaskawa Electric Corp | Substrate transfer robot and substrate transfer method |
| CN104924301A (en) * | 2014-03-19 | 2015-09-23 | 株式会社安川电机 | Carrying system and motion correcting method for carrying robot |
| CN209063131U (en) * | 2018-11-07 | 2019-07-05 | 引先自动化科技（苏州）有限公司 | Box transfer arm and the conveyer for having it |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020094093A1 (en) * | 2018-11-07 | 2020-05-14 | 引先自动化科技（苏州）有限公司 | Cassette transfer arm and transport system comprising same |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020094093A1 (en) | 2020-05-14 |
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