CN205184773U - Many joints of level industrial robot - Google Patents
Many joints of level industrial robot Download PDFInfo
- Publication number
- CN205184773U CN205184773U CN201520888921.6U CN201520888921U CN205184773U CN 205184773 U CN205184773 U CN 205184773U CN 201520888921 U CN201520888921 U CN 201520888921U CN 205184773 U CN205184773 U CN 205184773U
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- arm
- belt
- fixed
- transmission mechanism
- driving force
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Abstract
The utility model discloses a many joints of level industrial robot, include: a pedestal, it is first, 2. Some modes of needle punching ar, three arms, the machine staff, rotary driving source and drive power transmission mechanism, arm pivot is in proper order connected each other, first arm is rotatably installed on the base, the machine staff is rotatably installed at third arm distal end position, the rotary driving source is set up in the base and including the arm rotating electrical machines, the arm extends motor and robot swivel of hand motor, drive power transmission mechanism is used for the transmission and comes from rotary driving source rotary driving and do all can and give the machine staff for every arm, and set up in the connecting piece of every arm and arm. The utility model discloses the problem and the beneficial effect that solve are: the rotary driving source is concentrated to set up in the base, eliminates the needs of supply cable and plumbing installation, prevents to be reduced through the weight moment of inertia that reduces moving part because the rotary motion of arm and machine staff reduces the reliability.
Description
Technical field
The utility model relates to horizontal articulated industrial robot, in semiconductor manufacturing factory transfer wafers.
Background technology
Generally traditional horizontal articulated robot, connector corresponding to the arm joint with multiple free degree is equipped with multiple arm rotary driving source, and drive each arm respectively, except above-mentioned arm rotary driving source, be also equipped with a robot rotary driving source at the far-end of an arm.This structure needs to provide the energy (pipeline as cable distribution or hydraulic oil or gas) to the far-end of the connector between arm and arm for triggering arm rotary driving source and robot rotary driving source.Like this, the rotary motion of arm and robot has arranged mechanical load to these cable distributions and pipeline, thus reduce its reliability, and the weight that rotary driving source adds moving component is set at each arm, thus add the moment of inertia of moving component.
Summary of the invention
The technical problems to be solved in the utility model is that rotary driving source is collectively arranged in pedestal, eliminate the needs of supply cable and plumbing installation, prevent the rotary motion due to arm and robot from reducing reliability, be reduced by the weight moment of inertia reducing moving component.
In order to solve the problems of the technologies described above, the utility model employing technical scheme is: horizontal articulated industrial robot.
Horizontal articulated industrial robot, comprise: pedestal, first, two, three arms, robot, rotary driving source and driving force transmission mechanism, arm successively pivot is connected to each other, first arm is rotatably installed on pedestal, robot is rotatably installed in the 3rd arm distal site, rotary driving source to be arranged in pedestal and to comprise arm electric rotating machine, arm extends motor and robot electric rotating machine, driving force transmission mechanism be used for transmit from rotary driving source rotary driving force give each arm to robot, and be arranged in the connector of each arm and arm.
Described arm electric rotating machine drives the first, the 3rd arm to rotate by driving force transmission mechanism; Described arm extends motor and drives the second arm to rotate by driving force transmission mechanism; Described robot electric rotating machine carrys out driven machine staff by driving force transmission mechanism and rotates.
Described driving force transmission mechanism is divided into the driving force transmission mechanism rotated for arm, the driving force transmission mechanism extended for arm and the driving force transmission mechanism rotated for robot, the described driving force transmission mechanism for arm rotation comprises first, two, three, four belt pulleys and first, two belts, the first belt pulley is fixed on the output shaft of arm electric rotating machine, and the second belt pulley is fixed on the near-end of the first arm, and the first belt is connected to described first with ring, between two belt pulleys, the 3rd belt pulley is fixed on the far-end of the first arm, and is fixed on the upper joint of fixed axis, and fixed axis is by first, connector between second arm is towards the inner side of the second arm, and the 4th belt pulley is fixed on the near-end of the 3rd arm, and the second belt is connected to the 3rd with ring, between four belt pulleys, the described driving force transmission mechanism for arm extension comprises the 5th, six, seven, eight belt pulleys and the 3rd, four belts, the 5th belt pulley is fixed on arm and extends on the output shaft of motor, by the 6th of the first arm near-end, seven belt pulleys are fixed on the top and bottom of rotating shaft 1 respectively, and the 8th belt pulley is fixed on the near-end position of the second arm, and the 3rd belt is connected to the 5th with ring, between seven belt pulleys, the 4th belt is connected to the 6th with ring, between 8th belt pulley, the described driving force transmission mechanism for robot rotation comprises the 9th, ten, 11, three, 12, 13, 14, 15 belt pulleys and the 5th, six, seven, eight belts, the 9th belt pulley is fixed on the output shaft of robot electric rotating machine, by the tenth of the near-end position of the first arm, 11 belt pulleys are fixed on upper end and the low side of the drum rotatably supported by the first arm close end position respectively, and the 3rd, 12 belt pulleys are fixed on upper end and the low side of the drum rotatably supported by fixed axis respectively, and the 13, 14 belt pulleys are fixed on upper end and the low side of the rotating shaft 2 rotatably supported by the near-end of the 3rd arm respectively, tenth belt pulley is fixed on the low side of the rotating shaft 3 rotatably supported by one end of the 3rd arm, robot is fixed on the upper end of rotating shaft 3, and the 5th belt is connected to the 9th with ring, between 11 belt pulleys, the 6th belt is connected to the tenth with ring, between 12 belt pulleys, the 7th belt is connected between belt pulley and the 14 belt pulley with ring, and the 8th belt is connected to the 13 with ring, between 15 belt pulleys.
Advantage to be solved in the utility model and beneficial effect are: rotary driving source is collectively arranged in pedestal, eliminate the needs of supply cable and plumbing installation, prevent the rotary motion due to arm and robot from reducing reliability, be reduced by the weight moment of inertia reducing moving component.
Accompanying drawing explanation
Accompanying drawing 1: horizontal articulated industrial robot schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described further: horizontal articulated industrial robot, comprise: pedestal (1), first, two, three arms (2, 3, 4), robot (5), rotary driving source and driving force transmission mechanism, arm (2, 3, 4) pivot is connected to each other successively, first arm (2) is rotatably installed on pedestal (1), robot (5) is rotatably installed in the 3rd arm (4) distal site, rotary driving source to be arranged in pedestal (1) and to comprise arm electric rotating machine (8), arm extends motor (6) and robot electric rotating machine (7), described arm electric rotating machine (8) drives first by driving force transmission mechanism, 3rd arm (2, 4) rotate, described arm extends motor (6) and drives the second arm (3) to rotate by driving force transmission mechanism, described robot electric rotating machine (7) carrys out driven machine staff (5) by driving force transmission mechanism and rotates, described driving force transmission mechanism is divided into the driving force transmission mechanism rotated for arm, the driving force transmission mechanism extended for arm and the driving force transmission mechanism rotated for robot, the described driving force transmission mechanism for arm rotation comprises first, two, three, four belt pulleys (9, 10, 11, 12) and the first, two belts (13, 14), first belt pulley (9) is fixed on the output shaft of arm electric rotating machine (8), second belt pulley (10) is fixed on the near-end of the first arm (2), first belt (13) is connected to described first with ring, two belt pulleys (9, 10) between, 3rd belt pulley (11) is fixed on the far-end of the first arm (2), and be fixed on the upper joint of fixed axis (15), fixed axis (15) is by first, second arm (2, 3) connector between is towards the inner side of the second arm (3), 4th belt pulley (12) is fixed on the near-end of the 3rd arm (4), second belt (14) is connected to the 3rd with ring, four belt pulleys (11, 12) between, the described driving force transmission mechanism for arm extension comprises the 5th, six, seven, eight belt pulleys (16, 17, 18, 19) the and three, four belts (20, 21), 5th belt pulley (16) is fixed on arm and extends on the output shaft of motor (6), by the 6th of the first arm (1) near-end, seven belt pulleys (17, 18) top and bottom of rotating shaft 1 (22) are fixed on respectively, 8th belt pulley (19) is fixed on the near-end position of the second arm (3), 3rd belt (20) is connected to the 5th with ring, seven belt pulleys (16, 18) between, 4th belt (21) is connected to the 6th with ring, 8th belt pulley (17, 19) between, the described driving force transmission mechanism for robot rotation comprises the 9th, ten, 11, three, 12, 13, 14, 15 belt pulleys (23, 24, 25, 11, 27, 28, 29, 30) the and five, six, seven, eight belts (31, 32, 33, 34), 9th belt pulley (23) is fixed on the output shaft of robot electric rotating machine (7), by the tenth of the near-end position of the first arm (2), 11 belt pulleys (24, 25) upper end and the low side of the drum (35) rotatably supported by the first arm (2) near-end position is fixed on respectively, 3rd, 12 belt pulleys (11, 27) upper end and the low side of the drum (36) rotatably supported by fixed axis (15) is fixed on respectively, 13, 14 belt pulleys (28, 29) upper end and the low side of the rotating shaft 2 (37) rotatably supported by the near-end of the 3rd arm (4) is fixed on respectively, tenth belt pulley (24) is fixed on the low side of the rotating shaft 3 (38) rotatably supported by one end of the 3rd arm (4), robot (5) is fixed on the upper end of rotating shaft 3 (38), 5th belt (31) is connected to the 9th with ring, 11 belt pulleys (23, 25) between, 6th belt (32) is connected to the tenth with ring, 12 belt pulleys (24, 27) between, 7th belt (33) is connected to belt pulley and the 14 belt pulley (26 with ring, 29) between, 8th belt (34) is connected to the 13 with ring, 15 belt pulleys (28, 30) between, driving force transmission mechanism is used for transmitting from rotary driving source rotary driving force to each arm (2, 3, 4) to robot (5), and be arranged on each arm (2, 3, 4) and in the connector of arm.
Claims (3)
1. horizontal articulated industrial robot, comprise: pedestal (1), first, two, three arms (2, 3, 4), robot (5), rotary driving source and driving force transmission mechanism, arm (2, 3, 4) pivot is connected to each other successively, first arm (2) is rotatably installed on pedestal (1), robot (5) is rotatably installed in the 3rd arm (4) distal site, rotary driving source to be arranged in pedestal (1) and to comprise arm electric rotating machine (8), arm extends motor (6) and robot electric rotating machine (7), driving force transmission mechanism is used for transmitting from rotary driving source rotary driving force to each arm (2, 3, 4) to robot (5), and be arranged on each arm (2, 3, 4) and in the connector of arm.
2. horizontal articulated industrial robot according to claim 1, is characterized in that: described arm electric rotating machine (8) drives the first, the 3rd arm (2,4) to rotate by driving force transmission mechanism; Described arm extends motor (6) and drives the second arm (3) to rotate by driving force transmission mechanism; Described robot electric rotating machine (7) carrys out driven machine staff (5) by driving force transmission mechanism and rotates.
3. horizontal articulated industrial robot according to claim 1, it is characterized in that: described driving force transmission mechanism is divided into the driving force transmission mechanism rotated for arm, the driving force transmission mechanism extended for arm and the driving force transmission mechanism rotated for robot, the described driving force transmission mechanism for arm rotation comprises first, two, three, four belt pulleys (9, 10, 11, 12) and the first, two belts (13, 14), first belt pulley (9) is fixed on the output shaft of arm electric rotating machine (8), second belt pulley (10) is fixed on the near-end of the first arm (2), first belt (13) is connected to described first with ring, two belt pulleys (9, 10) between, 3rd belt pulley (11) is fixed on the far-end of the first arm (2), and be fixed on the upper joint of fixed axis (15), fixed axis (15) is by first, second arm (2, 3) connector between is towards the inner side of the second arm (3), 4th belt pulley (12) is fixed on the near-end of the 3rd arm (4), second belt (14) is connected to the 3rd with ring, four belt pulleys (11, 12) between, the described driving force transmission mechanism for arm extension comprises the 5th, six, seven, eight belt pulleys (16, 17, 18, 19) the and three, four belts (20, 21), 5th belt pulley (16) is fixed on arm and extends on the output shaft of motor (6), by the 6th of the first arm (1) near-end, seven belt pulleys (17, 18) be fixed on rotating shaft 1(22 respectively) top and bottom, 8th belt pulley (19) is fixed on the near-end position of the second arm (3), 3rd belt (20) is connected to the 5th with ring, seven belt pulleys (16, 18) between, 4th belt (21) is connected to the 6th with ring, 8th belt pulley (17, 19) between, the described driving force transmission mechanism for robot rotation comprises the 9th, ten, 11, three, 12, 13, 14, 15 belt pulleys (23, 24, 25, 11, 27, 28, 29, 30) the and five, six, seven, eight belts (31, 32, 33, 34), 9th belt pulley (23) is fixed on the output shaft of robot electric rotating machine (7), by the tenth of the near-end position of the first arm (2), 11 belt pulleys (24, 25) upper end and the low side of the drum (35) rotatably supported by the first arm (2) near-end position is fixed on respectively, 3rd, 12 belt pulleys (11, 27) upper end and the low side of the drum (36) rotatably supported by fixed axis (15) is fixed on respectively, 13, 14 belt pulleys (28, 29) be fixed on the rotating shaft 2(37 rotatably supported by the near-end of the 3rd arm (4) respectively) upper end and low side, tenth belt pulley (24) is fixed on the rotating shaft 3(38 rotatably supported by one end of the 3rd arm (4)) low side, robot (5) is fixed on rotating shaft 3(38) upper end, 5th belt (31) is connected to the 9th with ring, 11 belt pulleys (23, 25) between, 6th belt (32) is connected to the tenth with ring, 12 belt pulleys (24, 27) between, 7th belt (33) is connected to belt pulley and the 14 belt pulley (26 with ring, 29) between, 8th belt (34) is connected to the 13 with ring, 15 belt pulleys (28, 30) between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520888921.6U CN205184773U (en) | 2015-11-10 | 2015-11-10 | Many joints of level industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520888921.6U CN205184773U (en) | 2015-11-10 | 2015-11-10 | Many joints of level industrial robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205184773U true CN205184773U (en) | 2016-04-27 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520888921.6U Expired - Fee Related CN205184773U (en) | 2015-11-10 | 2015-11-10 | Many joints of level industrial robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205184773U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107008660A (en) * | 2017-05-19 | 2017-08-04 | 四川德恩精工科技股份有限公司 | The method surveyed the device of Belt Length using robot single shaft arm and screen belt |
-
2015
- 2015-11-10 CN CN201520888921.6U patent/CN205184773U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107008660A (en) * | 2017-05-19 | 2017-08-04 | 四川德恩精工科技股份有限公司 | The method surveyed the device of Belt Length using robot single shaft arm and screen belt |
| CN107008660B (en) * | 2017-05-19 | 2023-05-30 | 四川德恩精工科技股份有限公司 | Device for measuring belt length by using single-axis arm of robot and method for screening belt |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160427 Termination date: 20171110 |