DE102006018590A1 - handling device - Google Patents
handling device Download PDFInfo
- Publication number
- DE102006018590A1 DE102006018590A1 DE200610018590 DE102006018590A DE102006018590A1 DE 102006018590 A1 DE102006018590 A1 DE 102006018590A1 DE 200610018590 DE200610018590 DE 200610018590 DE 102006018590 A DE102006018590 A DE 102006018590A DE 102006018590 A1 DE102006018590 A1 DE 102006018590A1
- Authority
- DE
- Germany
- Prior art keywords
- handling device
- arms
- ring bearing
- ring
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
- B25J9/107—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms of the froglegs type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/22—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings
- F16C19/34—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load
- F16C19/36—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
- F16C19/361—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers
- F16C19/362—Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers with cylindrical rollers the rollers being crossed within the single row
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/54—Systems consisting of a plurality of bearings with rolling friction
- F16C19/55—Systems consisting of a plurality of bearings with rolling friction with intermediate floating or independently-driven rings rotating at reduced speed or with other differential ball or roller bearings
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
- H01L21/00—Processes or apparatus adapted for the manufacture or treatment of semiconductor or solid state devices or of parts thereof
- H01L21/67—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere
- H01L21/677—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations
- H01L21/67763—Apparatus specially adapted for handling semiconductor or electric solid state devices during manufacture or treatment thereof; Apparatus specially adapted for handling wafers during manufacture or treatment of semiconductor or electric solid state devices or components ; Apparatus not specifically provided for elsewhere for conveying, e.g. between different workstations the wafers being stored in a carrier, involving loading and unloading
- H01L21/67766—Mechanical parts of transfer devices
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Rolling Contact Bearings (AREA)
Abstract
Eine Handhabungsvorrichtung (1) weist ein Mehrringlager (8) mit drei relativ zueinander verdrehbaren konzentrischen Ringen (9, 10, 11) auf, wobei zwei Ringe (10, 11) jeweils zur Lagerung eines inneren Arms (4, 5) vorgesehen sind. An den inneren Armen (4, 5) sind äußere Arme (6, 7) schwenkbar angelenkt, welche eine Plattform (2) tragen, die in einer normal zur Achse (A) des Mehrringlagers (8) angeordneten Ebene beweglich ist.A handling device (1) has a multi-ring bearing (8) with three concentric rings (9, 10, 11) which can be rotated relative to one another, two rings (10, 11) each being provided for mounting an inner arm (4, 5). Outer arms (6, 7) are pivotably articulated on the inner arms (4, 5) and carry a platform (2) which is movable in a plane arranged normal to the axis (A) of the multi-ring bearing (8).
Description
Gebiet der ErfindungField of the invention
Die Erfindung betrifft eine Handhabungsvorrichtung, beispielsweise für die Handhabung von auf Trays angeordneten elektronischen Bauelementen.The The invention relates to a handling device, for example for handling of electronic components arranged on trays.
Hintergrund der Erfindungbackground the invention
Zur
Verpackung und/oder zum Transport bereitgestellte elektronische
Bauelemente sind häufig auf
Tabletts, so genannten Trays, abgelegt, wie beispielsweise aus der
Mehrere
Trays können
auf einer als Stocker bezeichneten Ablage angeordnet sein. Zur Handhabung
eines Stockers könnte
beispielsweise eine aus der
Aufgabe der ErfindungTask of invention
Der Erfindung liegt die Aufgabe zugrunde, eine Handhabungsvorrichtung anzugeben, welche besonders für die Handhabung eines Stockers geeignet ist, der mit elektronischen Bauelementen gefüllte Trays trägt.Of the Invention is based on the object, a handling device to specify which ones especially for the handling of a stocker is suitable, with electronic Components filled trays wearing.
Zusammenfassung der ErfindungSummary the invention
Diese Aufgabe wird erfindungsgemäß gelöst durch eine Handhabungsvorrichtung mit den Merkmalen des Anspruchs 1. Diese Vorrichtung umfasst ein Mehrringlager mit drei relativ zueinander verdrehbaren konzentrischen Ringen, wovon ein Ring typischerweise starr mit einem Gehäuse verbunden ist. Zwei der drei Ringe sind jeweils mit einem schwenkbaren inneren Arm verbunden oder bilden jeweils ein Teil eines solchen Arms. An jedem inneren Arm ist ein relativ zu diesem schwenkbarer äußerer Arm angelenkt. Die beiden äußeren Arme sind auf derjenigen Seite, die der gelenkigen Verbindung mit dem jeweiligen inneren Arm abgewandt ist, gelenkig mit einer Plattform verbunden. Die Drehachsen der insgesamt fünf Lager sind parallel zueinander angeordnet, so dass die Plattform, welche insbesondere zum Fördern eines Stockers vorgesehen ist, in einer Ebene bewegbar ist, die normal zur Achse des Mehrringlagers angeordnet ist. Insgesamt ist eine sogenannte Scherenkinematik realisiert.These The object is achieved by a handling device with the features of claim 1. This Device comprises a multi-ring bearing with three relative to each other rotatable concentric rings, of which a ring typically rigid with a housing connected is. Two of the three rings are each with a swiveling inner arm connected or each form a part of such Arms. On each inner arm is a relative to this pivoting outer arm hinged. The two outer arms are on the side that the articulated connection with the facing away from each inner arm, hinged to a platform connected. The axes of rotation of the five bearings are parallel to each other arranged so that the platform, which in particular for conveying a Stockers is provided, is movable in a plane that is normal is arranged to the axis of the multi-ring bearing. Overall, one is so-called scissor kinematics realized.
Ein
Mehrringlager ist grundsätzlich
beispielsweise aus der
In bevorzugter Ausgestaltung weisen die äußeren Arme der Handhabungsvorrichtung eine geringere effektive Länge als die inneren Arme auf. Als effektive Länge wird dabei der Abstand der jeweiligen Drehachsen verstanden. Der Abstand zwischen den die Anlenkpunkte an der Plattform definierenden Drehachsen der äußeren Arme wird Greiferabstand genannt. Die Summe aus diesem Greiferabstand und den effektiven Längen der beiden äußeren Arme ist vorzugsweise größer als die Summe der effektiven Längen der beiden inneren Arme. Mit diesen Abmessungsrelationen ist es möglich, ausgehend von einem Winkel von weniger als 90° zwischen den beiden inneren Armen, diese bis zu einem Winkel von 180° und darüber hinaus zu spreizen. Jeder der beiden inneren Arme kann dabei einen Winkel von mehr als 90° überstreichen. Bewegen sich die Arme symmetrisch zu einer Ebene, in welcher die Achse des Mehrringlagers liegt, so kann die Palette oder Plattform linear verfahren werden. Mit einer gleichsinnigen Drehung der beiden inneren Arme ist es dagegen möglich, die Palette um die Achse des Mehrringlagers zu schwenken. Ebenso ermöglicht die Handhabungsvorrichtung kombinierte lineare und rotative Bewegungen der Plattform. Das Längenverhältnisse der Arme ergibt ein günstiges Übersetzungsverhältnis von Drehwinkel zu linearem Verfahrweg.In preferred embodiment, the outer arms of the handling device a lower effective length as the inner arms up. The effective length is the distance understood the respective axes of rotation. The distance between the Linkage points on the platform defining axes of rotation of the outer arms is called gripper distance. The sum of this gripper distance and the effective lengths the two outer arms is preferably greater than the sum of the effective lengths the two inner arms. It is with these dimensional relations possible, starting from an angle of less than 90 ° between the two inner Poor to spread them to an angle of 180 ° and beyond. Everyone The two inner arms can cover an angle of more than 90 °. The arms move symmetrically to a plane in which the Axis of the multi-ring bearing, so can the pallet or platform be moved linearly. With a similar rotation of the two inner arms, on the other hand, it is possible to swing the pallet around the axis of the multi-ring bearing. As well allows the handling device combined linear and rotary movements the platform. The length ratios the arms gives a favorable gear ratio of Angle of rotation to linear travel.
Die
mit den inneren Armen verbundenen Ringe des Mehrringlagers sind
vorzugsweise unabhängig
voneinander elektromotorisch antreibbar. Der Antrieb kann beispielsweise über Zahnräder oder Zahnriemen
erfolgen. Ohne derartige mechanische Übertragungselemente weist eine
besondere vorteilhafte Ausführungsform
der Handhabungsvorrichtung mindestens einen Torquemotor als permanentmagneterregten
Synchronmotor zum Direktantrieb der drehbaren Ringe des Mehrringlagers
auf. Torquemotoren, prinzipiell beispielsweise aus der
Nachfolgend werden mehrere Ausführungsbeispiele der Erfindung anhand einer Zeichnung näher erläutert. Hierend zeigen:following be several embodiments of the invention explained in more detail with reference to a drawing. Show:
Kurze Beschreibung der ZeichnungenShort description the drawings
Ausführliche Beschreibung der ZeichnungFull Description of the drawing
Einander entsprechende oder gleichwirkende Teile sind in allen Figuren mit den gleichen Bezugszeichen gekennzeichnet.each other corresponding or equivalent parts are in all figures with denoted by the same reference numerals.
Eine
in den
Die
Plattform
Das
Mehrringlager
Jeder
innere Arm
Es
gilt die Relation
Im
Ausführungsbeispiel
nach den
Der
Antrieb der inneren Arme
Die
- 11
- Handhabungsvorrichtunghandling device
- 22
- Plattformplatform
- 33
- Gehäusecasing
- 44
- innerer Arminternal poor
- 55
- innerer Arminternal poor
- 66
- äußerer Armouter arm
- 77
- äußerer Armouter arm
- 88th
- MehrringlagerMultiple-ring bearings
- 99
- Ringring
- 1010
- Ringring
- 1111
- Ringring
- 1212
- mittleres Gelenkaverage joint
- 1313
- mittleres Gelenkaverage joint
- 1414
- äußeres Gelenkouter joint
- 1515
- äußeres Gelenkouter joint
- 1616
- Elektromotorelectric motor
- 1717
- Elektromotorelectric motor
- 1818
- Zahnradgear
- 1919
- Zahnradgear
- 2020
- KreuzrollenlagerCrossed roller bearings
- 2121
- KreuzrollenlagerCrossed roller bearings
- 2222
- Flanschflange
- 2323
- Torquemotortorque motor
- 2424
- Rotorrotor
- 2525
- Rotorrotor
- AA
- Achseaxis
- GG
- Greiferabstandhook clearance
- LA, LI L A , L I
- Längelength
Claims (8)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200610018590 DE102006018590A1 (en) | 2006-04-21 | 2006-04-21 | handling device |
PCT/EP2007/053853 WO2007122181A1 (en) | 2006-04-21 | 2007-04-19 | Handling device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200610018590 DE102006018590A1 (en) | 2006-04-21 | 2006-04-21 | handling device |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102006018590A1 true DE102006018590A1 (en) | 2007-10-25 |
Family
ID=38461006
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE200610018590 Withdrawn DE102006018590A1 (en) | 2006-04-21 | 2006-04-21 | handling device |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102006018590A1 (en) |
WO (1) | WO2007122181A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007050905A1 (en) | 2007-10-23 | 2009-04-30 | Schaeffler Kg | handling device |
WO2010037370A1 (en) * | 2008-09-30 | 2010-04-08 | Schaeffler Kg | Rotational connection, in particular rolling bearing comprising three concentric bearing rings and rolling body rows with intersecting bearing lines, or four-point contact ball bearings, for a wind turbine |
EP2444208A1 (en) * | 2010-10-23 | 2012-04-25 | FESTO AG & Co. KG | Handling device |
CN108946234A (en) * | 2017-05-18 | 2018-12-07 | 苏州光越微纳科技有限公司 | Mantle carrying mechanism |
DE102020103411A1 (en) | 2020-02-11 | 2021-08-12 | Schaeffler Technologies AG & Co. KG | Handling device |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007013826A1 (en) * | 2007-03-22 | 2008-09-25 | Rolls-Royce Deutschland Ltd & Co Kg | Thrust bearing with a radially inner and a radially outer rolling bearing |
DE102017116249A1 (en) | 2017-07-19 | 2019-01-24 | Schaeffler Technologies AG & Co. KG | electric motor |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD229470A1 (en) * | 1984-11-27 | 1985-11-06 | Leipzig Metallgusswerk | ARRANGEMENT OF STORAGE CONSTRUCTION OF A ROTATING JOINT |
US6132165A (en) * | 1998-02-23 | 2000-10-17 | Applied Materials, Inc. | Single drive, dual plane robot |
DE10003350A1 (en) * | 2000-01-27 | 2001-08-09 | Diro Gmbh & Co Kg | Adjustment mechanism to set one component against another has two toothed cogwheels and an input shaft with toothed splines and splined planet wheels for a simple adjustment action with precise positioning |
DE202004017199U1 (en) * | 2004-11-03 | 2005-02-03 | Institut für innovative Technologien, Technologietransfer, Ausbildung und berufsbegleitende Weiterbildung (ITW) e. V. | Lifting, rotating and swiveling unit to be used in assembly and transport, comprising integrated electric drives |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5647724A (en) * | 1995-10-27 | 1997-07-15 | Brooks Automation Inc. | Substrate transport apparatus with dual substrate holders |
JP4231552B2 (en) * | 1995-12-15 | 2009-03-04 | ブルックス オートメーション インコーポレイテッド | Object transfer device with wide wrist and bending arm |
US6267549B1 (en) * | 1998-06-02 | 2001-07-31 | Applied Materials, Inc. | Dual independent robot blades with minimal offset |
US6224319B1 (en) * | 1998-07-10 | 2001-05-01 | Equibe Technologies | Material handling device with overcenter arms and method for use thereof |
ITTO20030502A1 (en) * | 2003-07-01 | 2005-01-02 | O M V Ohg Venete S R L | NUMERICAL CONTROL MACHINE. |
DE102004030111A1 (en) * | 2004-03-25 | 2005-10-13 | Lat Suhl Ag | Rotor for a permanent magnet synchronous motor with reduced load pulsation and elevator drive unit with such a motor |
DE102004035587A1 (en) * | 2004-07-22 | 2006-02-09 | Ina-Schaeffler Kg | Bearing has three rings, between which ball bearings or rollers are mounted, rings having bevel gear toothing on their faces |
-
2006
- 2006-04-21 DE DE200610018590 patent/DE102006018590A1/en not_active Withdrawn
-
2007
- 2007-04-19 WO PCT/EP2007/053853 patent/WO2007122181A1/en active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DD229470A1 (en) * | 1984-11-27 | 1985-11-06 | Leipzig Metallgusswerk | ARRANGEMENT OF STORAGE CONSTRUCTION OF A ROTATING JOINT |
US6132165A (en) * | 1998-02-23 | 2000-10-17 | Applied Materials, Inc. | Single drive, dual plane robot |
DE10003350A1 (en) * | 2000-01-27 | 2001-08-09 | Diro Gmbh & Co Kg | Adjustment mechanism to set one component against another has two toothed cogwheels and an input shaft with toothed splines and splined planet wheels for a simple adjustment action with precise positioning |
DE202004017199U1 (en) * | 2004-11-03 | 2005-02-03 | Institut für innovative Technologien, Technologietransfer, Ausbildung und berufsbegleitende Weiterbildung (ITW) e. V. | Lifting, rotating and swiveling unit to be used in assembly and transport, comprising integrated electric drives |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007050905A1 (en) | 2007-10-23 | 2009-04-30 | Schaeffler Kg | handling device |
WO2010037370A1 (en) * | 2008-09-30 | 2010-04-08 | Schaeffler Kg | Rotational connection, in particular rolling bearing comprising three concentric bearing rings and rolling body rows with intersecting bearing lines, or four-point contact ball bearings, for a wind turbine |
EP2444208A1 (en) * | 2010-10-23 | 2012-04-25 | FESTO AG & Co. KG | Handling device |
CN108946234A (en) * | 2017-05-18 | 2018-12-07 | 苏州光越微纳科技有限公司 | Mantle carrying mechanism |
DE102020103411A1 (en) | 2020-02-11 | 2021-08-12 | Schaeffler Technologies AG & Co. KG | Handling device |
WO2021160214A1 (en) | 2020-02-11 | 2021-08-19 | Schaeffler Technologies AG & Co. KG | Handling device |
Also Published As
Publication number | Publication date |
---|---|
WO2007122181A1 (en) | 2007-11-01 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OM8 | Search report available as to paragraph 43 lit. 1 sentence 1 patent law | ||
8127 | New person/name/address of the applicant |
Owner name: SCHAEFFLER TECHNOLOGIES GMBH & CO. KG, 91074 H, DE |
|
R081 | Change of applicant/patentee |
Owner name: SCHAEFFLER TECHNOLOGIES AG & CO. KG, DE Free format text: FORMER OWNER: SCHAEFFLER TECHNOLOGIES GMBH & CO. KG, 91074 HERZOGENAURACH, DE Effective date: 20120822 |
|
R005 | Application deemed withdrawn due to failure to request examination |
Effective date: 20130423 |