CN1779936A - Silicon wafer carrying robot with two-dimensional parallel driven - Google Patents

Silicon wafer carrying robot with two-dimensional parallel driven Download PDF

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CN1779936A
CN1779936A CN 200510010440 CN200510010440A CN1779936A CN 1779936 A CN1779936 A CN 1779936A CN 200510010440 CN200510010440 CN 200510010440 CN 200510010440 A CN200510010440 A CN 200510010440A CN 1779936 A CN1779936 A CN 1779936A
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belt
connected
wheel
ii
bearing
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CN 200510010440
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Chinese (zh)
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CN100342517C (en )
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孙立宁
刘延杰
荣伟彬
曲东升
谢晖
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哈尔滨工业大学
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Abstract

A 2D parallelly driven robot for transporting the silicon wafers is composed of machine body, guide track, leading screw, ball-spline unit, frame nut, two synchronous motor-synchronous wheel units, two synchronous belt structure, two rocker arms, two axles, champing manipulator and casing.

Description

二维并联驱动的硅片搬运机器人 A two-dimensional parallel drive wafer transfer robot

(一)、所属领域本发明涉及的是一种工业机器人。 (A), the art of the present invention relates to an industrial robot. 具体地说是一种IC制造工艺设备中用于硅片搬运传输的机器人。 An IC is in particular a robot manufacturing process wafer handling equipment for transmission.

(二)、背景技术在IC制造工艺流程中,从拉单晶到最后检查的诸多关键制造设备中,大量使用了各种用于硅片搬运的机器人装备。 (B) Background Art In the IC manufacturing process, a single crystal pulled from a number of key manufacturing apparatus to the last examined, use a large variety of equipment for wafer handling robots. 随着IC制造业的迅速发展,对硅片搬运机器人的运动速度和定位精度提出了越来越高的要求。 With the rapid development of IC manufacturing, motion speed and positioning accuracy wafer handling robot raised higher and higher requirements. 硅片搬运机器人的R轴和Z轴运动是这类机器人的两个运动,目前都是采用串联式联接结构。 R-axis and Z-axis motion of the wafer transfer robot such that the robot two motion, are currently in series coupling structure. 这种串联结构限制了R轴和Z轴运动速度和定位精度的进一步提高。 This series arrangement restricts the R-axis and Z-axis motion to further improve the speed and positioning accuracy.

(三)、发明内容本发明的目的在于提供一种结构紧凑,运动惯量小、重量轻,可实现R轴和Z轴的高速高精度运动性能的二维并联驱动的硅片搬运机器人。 (C), object of the present invention is to provide a compact structure, small motion inertia, light weight, R and Z axes to achieve two-dimensional parallel movement of the drive performance of high speed and precision wafer transfer robot.

本发明的目的是这样实现的:它包括机体、导轨2、丝杠3、滚珠花键组合体、框架螺母5、套筒6、同步电机和同步轮I7、同步电机和同步轮II8、同步带结构I9、摇臂I10,轴I12、摇臂II13、同步带结构II14、轴II15、夹持机械手16和罩体17。 Object of the present invention is implemented as follows: it comprises a body, a guide rail 2, the screw 3, the ball spline assembly, the nut frame 5, the sleeve 6, synchronous motors and synchronous wheel I7, synchronous motors and synchronous wheel II8, timing belt structure I9, rocker I10, I12 of the shaft, the rocker arm II13, belt structure II14, shaft II15, the robot gripper 16 and the cover member 17. 机体包括机体底座1.1和机体支座1.2,同步电机和同步轮I7安装在机体底座1.1上,三根导轨2固定连接于机体底座1.1和机体支座1.2之间,丝杠3用轴承连接于机体底座1.1和机体支座1.2之间,丝杠3下端和同步电机和同步轮I7相连接,框架螺母5的下端在机体底座1.1和机体支座1.2之间、上端在机体支座1.2之上,滚珠花键组合体包括花键轴4.1、花键内圈4.2和轴承外套4.3,花键轴4.1和机体支座1.2的上端有轴承连接,花键轴4.1的下端和同步电机和同步轮II8连接,花键内圈4.2和摇臂I10固定连接,轴承外套4.3和同步带轮I9.1固定连接,同步带结构I包括同步带轮I9.1、同步带轮II9.2和连接于两同步带轮之间的同步带I9.3,同步带轮I9.1的下端通过套筒6和框架螺母5的上端面固连,同步带结构I位于摇臂I10之内,同步带结构II14包括同步带轮III14.1、同步带轮IV14.2和连接于两同步带轮 The body comprising a base body holder body 1.1 and 1.2, synchronous motors and synchronous I7 wheels mounted on the base body 1.1, three rail 2 is fixedly connected to the base body between the bearing body 1.1 and 1.2, the screw 3 is connected to the bearing base body between 1.1 and 1.2 support body, the lower end of the screw 3 and synchronous motors and synchronous wheel I7 is connected to the lower end of the frame 5 between the nut body and the base body support 1.1 1.2, the upper end of the body on the support 1.2, ball spline assembly comprises a spline shaft 4.1, 4.2 and the bearing inner race splines jacket 4.3, 4.1 spline shaft body and a bearing support connected to the upper end of 1.2, 4.1 of the lower end of the spline shaft and synchronous motors and synchronous wheel II8 connection, and the rocker inner spline 4.2 I10 is fixedly connected to the wheel bearing outer I9.1 4.3 and a timing belt is fixedly connected to the timing belt comprises a timing belt pulleys I9.1 structure I, and is connected to a timing belt pulleys II9.2 belt round two between belt I9.3, I9.1 lower belt round the sleeve 6 by the nut 5 and the end surface of the frame is fixedly connected to the rocker arm located within belt structure I I10, the belt structure comprises a belt round II14 III14.1, and is connected to a timing belt pulleys IV14.2 belt round two 间的同步带II14.3,同步带结构II14位于摇臂II13之内,同步带轮II9.2和同步带轮III14.1安装在轴I12上,轴I12和摇臂I10固定连接在一起。 Belt between II14.3, II14 belt structure located within the rocker arm II13, timing pulleys and a timing belt II9.2 III14.1 wheel mounted on a shaft I12, I12 and the rocker shaft is fixedly connected to I10.

本发明还可以包括这样一些结构特征:1、框架螺母5的下端在机体底座1.1和机体支座1.2之间,框架螺母5的下端和导轨2是滑动连接、和丝杠3是螺纹传动连接。 The present invention may also include such structural features: 1, the lower end of the nut 5 in the frame body and the base body support between 1.1 1.2, the lower end of the frame and the nut 5 are slidably connected to the guide rail 2, and 3 is a threaded spindle drive connection.

2、框架螺母5的上下端中间为三根支柱,支柱穿过机体支座1.2,和机体支座1.2无接触。 2, the upper and lower end of the intermediate frame 5 of the nut three pillars, the body support pillar through 1.2, 1.2, and support body without contact.

3、所述框架螺母5的上端和同步带轮I9.1通过套筒6固定连接。 3, the upper frame 5 of the nut and a timing belt wheel fixedly connected to the sleeve 6 I9.1.

4、花键轴4.1和机体支座1.2的上端有轴承连接,花键轴4.1的下端和同步电机和同步轮II8连接,轴承内套4.2和花键轴4.1有相对滑动而无相对转动,轴承内套4.2和轴承外套4.3有相对转动而无相对滑动,轴承内套4.2和摇臂110固定连接,轴承外套4.3和同步带轮I9.1固定连接。 4, the upper end of the spline shaft bearings 4.1 and 1.2 with a bearing body connected to the lower end of the spline shaft and synchronous motors and synchronous wheel connected II8 4.1, 4.2 inner bearing sleeve and the spline shaft 4.1 with a relative sliding movement without relative rotation of the bearing the outer sleeve and the bearing 4.2 4.3 relative rotation without relative sliding sleeve 4.2 and the rocker arm 110 is fixedly connected to the bearing, outer bearing belt wheel I9.1 4.3 and fixedly connected.

本发明的工作原理为:Z轴的运动:同步电机和同步轮I7驱动丝杠3转动,丝杠3和框架螺母5之间的螺旋传动带动框架螺母5沿导轨2上下运动,从而带动套筒6、同步带轮I9.1、轴承外套4.3、花键内圈4.2沿花键轴4.1上下运动,进而带动所有同步带机构和摇臂机构和夹持机械手上下运动。 Working principle of the invention is: the Z-axis motion: synchronous motors and synchronous wheel I7 drive spindle 3 is rotated, the screw drive between the spindle nut 5 and the frame 3 frame drive nut 5 along the guide rails 2 up and down movement, so as to drive the sleeve 6, timing belt pulleys I9.1, bearing jacket 4.3, 4.2 splined inner movement up and down along the 4.1 spline shaft, thereby bringing all sports timing belt mechanism and rocker arm mechanism and mechanical gripping hands.

R轴的运动:同步电机和同步轮II8驱动花键轴4.1转动,花键轴4.1带动花键内圈4.2转动,从而带动摇臂I10以花键轴4.1的轴心为轴心转动。 The R-axis motion: synchronous motors and synchronous drive wheel II8 4.1 spline shaft is rotated, the spline shaft spline driven by the inner ring 4.1 4.2 rotated, so as to drive the rocker arm about the axis I10 spline shaft as the axis of rotation of 4.1. 同步带轮I9.1的下端通过套筒6和框架螺母5的上端面固连,所以无转动。 I9.1 lower belt round the sleeve by the nut 5 and the frame 6 is fixedly connected to the end face, so no rotation. 摇臂I10和同步带轮I9.1的相对转动通过同步带I9.3的传动使同步带轮II9.2相对于轴I12转动,而轴I12和摇臂I10固定连接在一起,所以同步带轮II9.2和摇臂I10相对转动。 I10 wheel rocker arm and a timing belt passing through I9.1 relative rotation of the drive belt round belt I9.3 II9.2 rotation relative to the shaft I12, I12 and the rocker shaft and fixedly connected to I10, the timing belt pulleys II9.2 I10 and the rocker arm relative rotation. 同步带轮II9.2的上端和摇臂II13固定连接,从而摇臂II13以轴I12的轴心为轴心相对摇臂I10和轴I12转动。 II9.2 belt round upper and fixedly connected to the rocker arm II13 to II13 to the axis of the rocker shaft relative to the axis of the rocker arm I12 I10 I12 and rotatable shaft. 同步带轮III14.1和轴I12固定连接在一起,所以同步带轮III14.1相对摇臂II13转动,进而通过同步带II14.3使同步带轮IV14.2相对相对摇臂II13转动。 III14.1 timing belt pulleys and a shaft fixedly connected to I12, the timing belt pulleys III14.1 II13 rotation relative rocker arm, thereby enabling the synchronous pulley belt II14.3 IV14.2 by relative rotation of the rocker arm relative to II13. 同步带轮IV14.2和轴II15固定连接在一起,轴II15和摇臂II13通过轴承IV11.4和轴承V11.5联接,从而使轴II15相对摇臂II13转动。 IV14.2 timing belt pulleys and a shaft fixedly connected to II15, II15 and the rocker arm shaft via a bearing IV11.4 II13 V11.5 and bearing coupled to the shaft relative to the rocker arm II13 II15 rotation. 轴II15和夹持机械手16固定连接在一起,从而使夹持机械手16和摇臂II13有相对转动。 II15 and clamping shaft 16 is fixedly connected to the robot, the robot so that the clamp 16 and the rocker arm relative rotation II13.

同步带结构I9的传动比为2∶1,同步带结构II14的传动比为1∶2,摇臂I10和摇臂II13等长,整个机构可简化等价成曲柄滑块结构,可使夹持机械手16沿R轴方向运动而保持姿态不变。 I9 belt structure gear ratio of 2, the structure of the transmission belt ratio is 1:2 II14, II13 the rocker arm and the rocker arm I10 as long as the entire slider-crank mechanism can be simplified to an equivalent structure, the clamping while holding constant the attitude motion of manipulator 16 in the R axis direction.

本发明的机器人结构新颖紧凑,运动惯量小、重量轻,可实现R轴和Z轴的高速高精度运动性能。 Robot novel structure of the present invention is compact, small motion inertia, light weight, R and Z axes to achieve high-speed precision motion performance. 其中,R轴运动实现沿机器人旋转(θ轴,机器人腰部的旋转运动,因与本发明没有直接关系,附图中未画出)半径方向的直线运动,R轴运动实现沿机器人竖直方向的直线运动。 Wherein, R-axis robot along a rotational motion achieved ([theta] axis, the rotational movement of the waist of the robot, because there is no direct relationship with the present invention, not shown in the drawings) of the linear motion in the radial direction, R-axis motion of the robot in the vertical direction to achieve linear motion.

(四)、附图说明图1为本发明的整个机构的轴测图;图2为图1去掉同步电机和同步轮I7、同步电机和同步轮II8、摇臂I10、摇臂II13、夹持机械手16和罩体17之后的内部结构;图3为图2的透视图,旨在指出轴承I11.1和轴承VIII11.8。 (IV) Brief Description of the isometric view of the entire mechanism of the present invention. FIG. 1; FIG. 2 is a synchronous motor and a synchronous wheel removed I7, synchronous motors and synchronous wheel II8, I10 rocker arm, the rocker arm II13, the clamping after the internal structure of the manipulator 17 and the cover member 16; FIG. 3 is a perspective view of FIG. 2, it is intended to point out the bearings and bearing I11.1 VIII11.8.

(五)、具体实施方案下面结合附图举例对本发明做更详细地描述:机体底座1.1和机体支座1.2之间固定连接三个导轨2以圆形机体底座1.1的圆心为圆心按120度分布。 (V), specific example embodiments in conjunction with the accompanying drawings The present invention will be described in more detail: three fixed connection between the rail body and the base body support 1.1 1.2 2 1.1 a circular base body center distribution centered at 120 degrees . 丝杠3的下端通过轴承VI11.6和机体底座1.1联接,上端通过轴承VIII11.8和机体支座1.2联接。 Lower spindle 3 via a bearing VI11.6 base body and coupled 1.1, 1.2 is coupled via a bearing support upper and VIII11.8 body. 同步电机和同步轮I7固定在机体底座1.1上,它与同步轮和丝杠3的下端固定连接在一起。 Synchronous motors and synchronous wheel I7 fixing on the base 1.1, which is fixed to the lower end connected to the timing pulley and the screw 3.

框架螺母5中心和丝杠3的轴心相合,它们之间是螺纹传动联接。 5 and the nut center axis frame spindle 3 coincide, threaded drive coupling therebetween. 导轨2穿过框架螺母5下部的三个孔,和框架螺母5有上下相对滑动,对框架螺母5起垂直导向作用。 2 three guide holes through the frame 5 the lower part of the nut, the nut 5 and the frame up and down relative sliding action of the nut on the frame 5 from vertical guide. 框架螺母5中间的三个支柱穿过机体支座1.2的三个孔,它们之间无接触。 Three pillars intermediate frame 5 through the nut body support three holes 1.2, without contact therebetween.

同步电机和同步轮II8固定在机体支座1.2的上部,它的同步轮和花键轴4.1的下端相固连,而花键轴4.1再往下通过轴承VII11.7和机体支座1.2的上部相连接。 Synchronous motors and synchronous wheel II8 upper support fixed to the body 1.2, the lower end of its synchronization and the spline shaft wheel fixedly connected to the 4.1, 4.1 and further down the spline shaft through a bearing support upper portion 1.2 of the body and VII11.7 connected. 花键内圈4.2只相对花键轴4.1上下滑动而无转动,轴承外套4.3通过滚珠和花键内圈4.2有相对转动而无上下滑动。 4.2 relative to the inner spline shaft spline slide up and down without rotation of 4.1, and a ball bearing outer spline 4.3 by 4.2 relative rotation without inner slide vertically. 同步带轮I9.1的下端通过套筒6和框架螺母5的上端面固连,同步带轮I9.1的内圈和轴承外套4.3固连。 I9.1 lower belt round the sleeve 6 by the nut 5 and the end surface of the frame is secured, timing belt pulleys and the bearing inner ring outer I9.1 4.3 secured. 摇臂I10的一端和花键内圈4.2固连在一起。 I10 end of the rocker arm and the inner splines 4.2 secured together. 另一端和轴I12固连在一起。 The other end of the shaft and fixedly connected I12. 同步带轮II9.2通过轴承I11.1、轴承II11.2和轴I12相连接,和轴I12有相对转动。 Timing pulleys are connected through a bearing II9.2 I11.1, bearings and shaft II11.2 I12, I12 and the shaft relative rotation. 同步带轮I9.1通过同步带I9.3和同步带轮II9.2有同步带传动。 Timing belt drive timing pulleys I9.1 through I9.3 belt and timing pulleys II9.2. 同步带轮II9.2的上端和摇臂II13固定连接。 And an upper end fixedly connected to the rocker arm II13 II9.2 the timing pulleys. 轴I12的上端通过轴承III11.3和摇臂II13联接,和摇臂II13有相对转动。 I12 ends of the shaft and the rocker arm through a bearing III11.3 coupled II13, II13 and the rocker arm relative rotation. 同步带轮III14.1和轴I12固定连接在一起。 III14.1 timing belt pulleys and a shaft fixedly connected to I12. 同步带轮IV14.2和轴II15固定连接在一起。 IV14.2 timing belt pulleys and a shaft fixedly connected to II15. 同步带轮III14.1和同步带轮IV14.2通过同步带II14.3进行同步带传动。 III14.1 timing pulleys and a timing belt for belt drive wheel via a timing belt IV14.2 II14.3. 轴II15和摇臂II13通过轴承IV11.4和轴承V11.5联接,两者之间有相对转动。 II15 and II13 the rocker arm shaft via a bearing and a bearing V11.5 IV11.4 coupled with relative rotation therebetween. 夹持机械手16和轴II15固定连接在一起。 Gripping manipulator 16 and fixedly connected to the shaft II15.

Claims (6)

  1. 1.一种二维并联驱动的硅片搬运机器人,它包括机体、导轨(2)、丝杠(3)、滚珠花键组合体、框架螺母(5)、套筒(6)、同步电机和同步轮I(7)、同步电机和同步轮II(8)、同步带结构I(9)、摇臂I(10),轴I(12)、摇臂II(13)、同步带结构II(14)、轴II(15)、夹持机械手(16)和罩体(17),其特征是:机体包括机体底座(1.1)和机体支座(1.2),同步电机和同步轮I(7)安装在机体底座(1.1)上,三根导轨(2)固定连接于机体底座(1.1)和机体支座(1.2)之间,丝杠(3)用轴承连接于机体底座(1.1)和机体支座(1.2)之间,丝杠(3)下端和同步电机和同步轮I(7)相连接,框架螺母(5)的下端在机体底座(1.1)和机体支座(1.2)之间、上端在机体支座(1.2)之上,滚珠花键组合体包括花键轴(4.1)、花键内圈(4.2)和轴承外套(4.3),花键轴(4.1)和机体支座(1.2)的上端有轴承连接,花键轴(4.1)的下端和同步电机和同步轮II(8)连接,花 1. A two-dimensional parallel drive wafer transfer robot, which includes the body, the guide rail (2), the screw (3), the ball spline assembly, the nut frame (5), the sleeve (6), and synchronous motor synchronizing wheel I (7), synchronous motors and synchronous wheel II (8), belt structure I (9), the rocker arm I (10), the axis I (12), the rocker arm II (13), belt structure II ( 14), the axis II (15), the robot gripper (16) and a cover member (17), characterized in that: the body comprising a base body (1.1) and the support body (1.2), synchronous motors and synchronous wheel I (7) mounted on the base body (1.1), three guide rails (2) is fixedly connected to the base body (1.1) and the support body (1.2) between the spindle (3) is connected to the bearing base body (1.1) and the support body between (1.2), screw (3) and a lower synchronous motors and synchronous wheel I (7) is connected to the lower end of the frame the nut (5) between the base body (1.1) and the support body (1.2), at the upper end above the support body (1.2), the ball spline assembly includes a spline shaft (4.1), the inner spline (4.2) and the bearing housing (4.3), the spline shaft (4.1) and the support body (1.2) a bearing connected to the upper end, a lower end of the spline shaft (4.1) of the synchronous motors and synchronous wheel and II (8) is connected, flowers 内圈(4.2)和摇臂I(10)固定连接,轴承外套(4.3)和同步带轮I(9.1)固定连接,同步带结构I包括同步带轮I(9.1)、同步带轮II(9.2)和连接于两同步带轮之间的同步带I(9.3),同步带轮I(9.1)的下端通过套筒(6)和框架螺母(5)的上端面固连,同步带结构I位于摇臂I(10)之内,同步带结构II(14)包括同步带轮III(14.1)、同步带轮IV(14.2)和连接于两同步带轮之间的同步带II(14.3),同步带结构II(14)位于摇臂II(13)之内,同步带轮II(9.2)和同步带轮III(14.1)安装在轴I(12)上,轴I(12)和摇臂I(10)固定连接在一起。 An inner ring (4.2) I and the rocker arm (10) is fixedly connected to the bearing housing (4.3) and the belt wheel I (9.1) fixedly connected to the belt wheel comprises a belt structure I I (9.1), belt wheel II (9.2 ) and I connected to the belt (9.3) between the two timing belt pulleys, I lower belt wheel (9.1) through the sleeve (6) and the frame a nut (5) is fixedly connected to the end face, the belt structure I is located the rocker arm I (10), the belt structure II (14) comprises a belt wheel III (14.1), belt wheel IV (14.2) is connected to a timing belt and II (14.3) between the two timing belt pulleys, synchronization within, timing belt pulleys II (9.2) and the belt wheel III (14.1) with a mounting structure II (14) located in the rocker arm II (13) on the shaft I (12 is), the shaft I (12 is) and the rocker arm I ( 10) fixedly connected together.
  2. 2.根据权利要求1所述的二维并联驱动的硅片搬运机器人,其特征是:框架螺母(5)的下端在机体底座(1.1)和机体支座(1.2)之间,框架螺母(5)的下端和导轨(2)是滑动连接、和丝杠(3)是螺纹传动连接。 The two-dimensional parallel drive according to claim wafer transfer robot, characterized in that: the lower end of the frame a nut (5) between the base body (1.1) and the support body (1.2), the framework nuts (5 ) and a lower guide rail (2) is slidably connected, and the screw (3) is a threaded drive connection.
  3. 3.根据权利要求1或2所述的二维并联驱动的硅片搬运机器人,其特征是:框架螺母(5)的上下端中间为三根支柱,支柱穿过机体支座(1.2),和机体支座(1.2)无接触。 The two-dimensional parallel drive 1 or the wafer transfer robot claim, characterized in that: the intermediate frame nut (5) of the upper and lower ends of three struts, support strut passes through the body (1.2), and the body support (1.2) without contact.
  4. 4.根据权利要求3所述的二维并联驱动的硅片搬运机器人人,其特征是:所述框架螺母(5)的上端和同步带轮I(9.1)通过套筒(6)固定连接。 The wafer transfer robot person driving a two-dimensional parallel according to claim 3, characterized in that: said frame nut (5) and the upper belt wheel I (9.1) fixedly connected to the sleeve (6).
  5. 5.根据权利要求1、2或4所述的二维并联驱动的硅片搬运机器人,其特征是:花键轴(4.1)和机体支座(1.2)的上端有轴承连接,花键轴(4.1)的下端和同步电机和同步轮II(8)连接,轴承内套(4.2)和花键轴(4.1)有相对滑动而无相对转动,轴承内套(4.2)和轴承外套(4.3)有相对转动而无相对滑动,轴承内套(4.2)和摇臂1(10)固定连接,轴承外套(4.3)和同步带轮I(9.1)固定连接。 The two-dimensional parallel drive 1, 2 or 4, wherein the wafer transfer robot claim, characterized in that: the upper end of the spline shaft (4.1) and the support body (1.2) is connected with a bearing, a spline shaft ( 4.1) and a lower synchronous motors and synchronous wheel II (8) connected to the bearing sleeve (4.2) and the spline shaft (4.1) there is no relative sliding relative rotation of bearing sleeve (4.2) and the bearing housing (4.3) has relative rotation without relative sliding bearing sleeve (4.2) 1 and the rocker arm (10) is fixedly connected to the bearing housing (4.3) and the belt wheel I (9.1) is fixedly connected.
  6. 6.根据权利要求3所述的二维并联驱动的硅片搬运机器人,其特征是:花键轴(4.1)和机体支座(1.2)的上端有轴承连接,花键轴(4.1)的下端和同步电机和同步轮II(8)连接,轴承内套(4.2)和花键轴(4.1)有相对滑动而无相对转动,轴承内套(4.2)和轴承外套(4.3)有相对转动而无相对滑动,轴承内套(4.2)和摇臂1(10)固定连接,轴承外套(4.3)和同步带轮I(9.1)固定连接。 The 3-D parallel to the wafer transfer robot driving claim, wherein: the upper end of the spline shaft (4.1) and the support body (1.2) are connected to the lower end of the bearing, a spline shaft (4.1) of synchronous motors and synchronous wheel and II (8) connected to the bearing sleeve (4.2) and the spline shaft (4.1) there is no relative sliding relative rotation of bearing sleeve (4.2) and the bearing housing (4.3) without relative rotation relative sliding bearing sleeve (4.2) 1 and the rocker arm (10) is fixedly connected to the bearing housing (4.3) and the belt wheel I (9.1) is fixedly connected.
CN 200510010440 2005-10-19 2005-10-19 Silicon wafer carrying robot with two-dimensional parallel driven CN100342517C (en)

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