TWI651481B - Double belt drive - Google Patents

Abstract

The invention provides a double belt transmission mechanism, which uses a driving wheel connected to a motor output shaft to drive a first driven wheel through a first belt, and also drives an idler wheel, and then the second belt transmits the power transmitted to the idler to the first The rotation of the two passive wheels. Thereby, the single motor can simultaneously drive the first passive wheel and the second passive wheel to rotate in the opposite direction, and can be applied to the wafer handling robot arm, thereby reducing the manufacturing cost, reducing the control difficulty and improving the system reliability.

Description

Double belt drive

The invention relates to a handling robot arm, and in particular to a double belt transmission mechanism for driving the rotation of a robot arm.

According to the automation era, many handling work has used robotic arms instead of manual handling. Because the robot arm has a stable moving process, a large moving weight, and can operate continuously under poor environmental conditions. In the case of wafer handling operations, the use of dual robotic arms to perform wafer horizontal movement operations is a common form of handling.

During the handling of the dual robot arm, the robot arm is divided into a first arm coupled to the base and a second arm coupled to the first arm. As disclosed in US 6,725,748 B1. In the process of horizontal movement of a general robot arm, two motors are required to be combined with a speed reduction mechanism to drive each of the first arms to rotate simultaneously in the opposite direction, and then the rotation ratio between the first arm and the second arm is matched to achieve a level. The effect of moving the workpiece.

However, it is not difficult to imagine from the foregoing that in order to achieve simultaneous reverse rotation of each of the first arms, in addition to the two motors and the speed reduction mechanism, it is necessary to precisely control the motor. In this way, because the manufacturing cost of using two motor robot arms is difficult to reduce, and the system control is difficult, the cost control system is also required, and because the two motors need to work well to make the system normal and the system reliability is improved. Not easy. Therefore, there is still room for improvement.

The main object of the present invention is to provide a double belt transmission mechanism which can synchronously drive two passive wheels to rotate in different steering modes by using one motor, thereby reducing manufacturing cost, reducing control difficulty and improving system reliability.

According to the present invention, a double belt transmission mechanism includes: a base; a motor fixed to the base, the motor having an output shaft; and a driving wheel fixed to the output shaft by the motor Driving rotation; a first driven wheel pivotally connecting the base; a first belt having an inner annular surface and an outer annular surface; the first belt sleeve being disposed on the driving wheel and the first driven wheel The ring surface contacts the driving wheel and the first driven wheel; an idler wheel pivotally connects the base, the idler wheel contacts an outer annular surface of the first belt, and is driven to rotate by the first belt; a second passive wheel, Pivoting the base; and a second belt sleeved on the idler pulley and the second driven wheel.

Thereby, a motor is used to synchronously drive the two passive wheels to rotate in different steering modes synchronously, thereby reducing manufacturing cost, reducing control difficulty and improving system reliability.

In addition, the outer circumference of the driving wheel may have a first tooth groove; the outer circumference of the first driving wheel has a second tooth groove; the first belt forms a first inner driving tooth on the inner ring surface; the first inner driving The teeth extend into the first gullet and the second gullet. The effect of the driving wheel to drive the first driven wheel can be enhanced.

The first belt may also form a first outer driving tooth on the outer ring surface, and the outer circumference of the idler wheel has a third tooth groove, and the first outer driving tooth protrudes into the third tooth groove. There is also an effect of enhancing the drive wheel to drive the idler.

Additionally, the second belt has a second drive tooth. The second passive wheel has a fourth tooth groove on the outer circumference. The second drive tooth extends into the third slot and the fourth slot. Thereby the effect of the idler to drive the second driven wheel is enhanced.

Also, the total number of second slots of the first driven wheel and the total number of fourth slots of the second driven wheel may be the same. Thereby, the first driven wheel and the second driven wheel can be simultaneously rotated in opposite directions at opposite speeds.

10‧‧‧Double belt drive mechanism

11‧‧‧Base

12‧‧‧ motor

121‧‧‧ Output shaft

13‧‧‧Drive wheel

131‧‧‧First cogging

14‧‧‧First Passive Wheel

141‧‧‧second cogging

15‧‧‧First belt

151‧‧‧ Inner torus

152‧‧‧ outer annulus

153‧‧‧First inner drive tooth

154‧‧‧First external drive tooth

16‧‧‧ Idler

161‧‧‧ third cogging

17‧‧‧second passive wheel

171‧‧‧ fourth cogging

18‧‧‧Second belt

181‧‧‧second drive tooth

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a perspective view of a first preferred embodiment of the present invention showing a double belt drive mechanism.

Figure 2 is a partial view of a first preferred embodiment of the present invention showing the drive wheel of a double belt drive mechanism.

Figure 3 is a partial cross-sectional view of the first preferred embodiment of the present invention showing the dual belt drive motor output shaft.

Figure 4 is a partial perspective view of a second preferred embodiment of the present invention showing a double belt drive mechanism.

Figure 5 is a partial schematic view of a second preferred embodiment of the present invention showing the first skin and the second belt.

In order to explain the technical features of the present invention in detail, the following preferred embodiments are described with reference to the accompanying drawings, wherein: FIG. 1-2 shows a double provided by the first preferred embodiment of the present invention. The belt transmission mechanism 10 includes a base 11, a motor 12, a driving wheel 13, a first driven wheel 14, a first belt 15, an idler 16, a second driven wheel 17, and a second belt. 18.

The base 11 is provided with component mounting.

The motor 12 is fixed to the base 11. The motor has an output shaft 121 that rotates to output power of the motor 12.

The driving wheel 13 is fixed to the output shaft 121 and driven to rotate by the motor 12.

The first driven wheel 14 pivotally connects the base 11 and can be driven to transmit the received power.

The first belt 15 has an inner annular surface 151 and an outer annular surface 152. The first belt 15 is sleeved on the driving wheel 13 and the first driven wheel 14, and the inner ring surface 151 contacts the driving wheel 13 and the first driven wheel 14. In this way, after the motor 12 drives the driving wheel 13 to rotate, the first belt 15 transmits power to the first driven wheel 14 to output power.

The idler 16 pivots to the base 11 and the idler 16 contacts the outer annular surface 152 of the first belt 15 and is driven to rotate by the first belt 15.

The second passive wheel 17 pivotally connects the base 11.

The second belt 18 is sleeved on the idler 16 and the second driven wheel 17. In this way, after the motor 12 drives the driving wheel 13 to rotate, the power is transmitted through the first belt 15, and the power is transmitted to the idle wheel 16 via the first belt 15 in addition to transmitting the power to the first driven wheel 14. And the second driven wheel 17 is driven by the idler 16 through the second belt 18, and then the power is transmitted.

It can be seen from the above that the double-belt transmission mechanism 10 provided by the first embodiment of the present invention can synchronously drive two passive wheels to rotate in different directions in a synchronous manner, thereby reducing manufacturing cost, reducing control difficulty, and improving system reliability. degree.

Referring to FIG. 4-5, a second preferred embodiment of the present invention will be described next, which is different from the first preferred embodiment in that the driving wheel 13 has a first slot 131 on its outer circumference. The first passive wheel 14 has a second slot 141 on its outer circumference. The first belt 15 forms a first inner driving tooth 153 on the inner annular surface 151. The first inner driving tooth 153 extends into the first gullet 131 and the second gullet 141. By the first and second teeth The slots 131, 141 engage the first inner drive teeth 153 of the first belt 15. Thereby, the effect that the driving wheel 13 drives the first driven wheel 14 can be enhanced.

Similarly, a first outer driving tooth 154 is formed on the outer ring surface 152 of the first belt 15 , and the outer circumference of the idler wheel 16 has a third tooth groove 161 , and the first outer driving tooth 154 extends into the first outer driving tooth 154 . The third tooth groove 161. There is also an effect of enhancing the drive wheel 13 to drive the idler gear 16.

Additionally, the second belt 18 is selected to have a second drive tooth 181. The second passive wheel 17 has a fourth slot 171 on its outer circumference. The second driving tooth 181 extends into the third slot 161 and the fourth slot 171. Thereby the effect of the idler to drive the second driven wheel is enhanced.

It is worth mentioning that if the first passive wheel 14 and the second passive wheel 17 rotate at the same speed, the total number of the second slots 141 of the first driven wheel 14 and the fourth tooth of the second driven wheel 17 can be made. The total number of slots 171 is the same. Thereby, the first driven wheel 14 and the second driven wheel 17 can be simultaneously rotated in opposite directions at equal speeds.

Claims (5)

A double belt transmission mechanism comprising: a base; a motor fixed to the base, the motor having an output shaft; a driving wheel fixed to the output shaft to be driven to rotate by the motor; a first passive wheel, Pivoting the base; a first belt having an inner annular surface and an outer annular surface; the first belt sleeve is disposed on the driving wheel and the first driven wheel, the inner ring surface contacting the driving wheel and the first a passive wheel; an idler wheel pivotally connecting the base, the idler wheel contacting the outer annular surface of the first belt, being driven to rotate by the first belt; a second passive wheel pivotally connecting the base; and a first Two belts are sleeved on the idler pulley and the second passive wheel. According to the double-belt transmission mechanism of claim 1, wherein: the outer circumference of the driving wheel has a first tooth groove; the outer circumference of the first driven wheel has a second tooth groove; the first belt forms a first ring surface a first inner drive tooth; the first inner drive tooth extends into the first slot and the second slot. According to the double belt transmission mechanism of claim 1, wherein the first belt forms a first outer driving tooth on the outer ring surface, and the outer circumference of the idler wheel has a third tooth groove, the first outer driving tooth extension Into the third cogging. The double belt transmission mechanism according to claim 3, wherein the second belt has a second driving tooth: the second driving wheel has a fourth tooth groove on the outer circumference; the second driving tooth extends into the third tooth a slot and the fourth slot. According to the double belt transmission mechanism of claim 3, wherein the total number of second slots of the first driven wheel is the same as the total number of fourth slots of the second driven wheel.