CN203185346U

CN203185346U - Single-arm manipulator

Info

Publication number: CN203185346U
Application number: CN 201220584603
Authority: CN
Inventors: 徐方; 朱维金; 王凤利; 朱玉聪; 徐传胜; 曲道奎
Original assignee: Shenyang Siasun Robot and Automation Co Ltd
Current assignee: Shenyang Siasun Robot and Automation Co Ltd
Priority date: 2012-11-08
Filing date: 2012-11-08
Publication date: 2013-09-11
Anticipated expiration: 2022-11-08

Abstract

A single-arm manipulator comprises the following components: a column, a waist base, a connector, a first arm, a second arm, an end component, a claw, a first motor and a second motor. The first arm and the second arm respectively comprise a thick end and a thin end, wherein: the connector is cylindrical and is provided in the column; the waist base is planar; the bottom of the waist base is fixedly connected with the connector; the thick end of the first arm is fixedly connected with the waist base, and the thin end of the first arm is connected with the thick end of the second arm movably; the thin end of the second arm is movably connected with the end component; the claw is approximately Y-shaped and is movably connected with the end component; the first motor and the second motor are coupled for commonly driving the first arm and the second arm and causing the end component to perform linear movement. The single-arm manipulator provided by the utility model has the advantages of: small occupation space and high space utilization rate.

Description

The single armed manipulator

Technical field

The utility model relates to robot, relates in particular to a kind of single armed manipulator.

Background technology

Along with the deep development of automatic technology, factory has higher requirement to the automated manufacturing degree of plate workpiece.In the conventional semiconductor factory, generally adopt robot to carry wafer at station, to the operation that wafer cleans or polishes and so on, manipulator is installed in the board at present, and station is arranged in board.

In order to improve utilization of space, present station space is all narrower and small, and the operation of existing mechanical hand the time need take bigger space.

The utility model content

In view of this, be necessary to provide a kind of single armed manipulator, can move at narrow space.

Single armed manipulator in the utility model embodiment, comprise: column, waist seat, connector, first arm, second arm, terminal link, catching, first motor and second motor, described first arm and described second arm comprise butt end and thin end, described connector is cylindrical, is arranged in described column; Described waist seat roughly is plate shaped, fixedlys connected with described connector in its bottom; The butt end of described first arm is fixedlyed connected with described waist seat, and the thin end of described first arm and the butt end of described second arm flexibly connect, and the thin end of described second arm and described terminal link flexibly connect; Described catching is roughly Y-shaped, flexibly connects with described terminal link; Described first motor and the described second motor coupled motions drive described first arm and second arm jointly, and control described terminal link and carry out rectilinear motion.

Single armed manipulator provided by the utility model by the driving of first motor and second motor, can effectively be saved the load capacity that space increases the single armed manipulator.

Description of drawings

Fig. 1 is the front view of single armed manipulator in the utility model one embodiment;

Fig. 2 is the stereogram of single armed manipulator in the utility model one embodiment;

Fig. 3 is the vertical view of single armed manipulator in the utility model one embodiment;

Fig. 4 is the vertical view A-A sectional view of single armed manipulator in the utility model one embodiment;

Fig. 5 is the vertical view B-B sectional view of single armed manipulator in the utility model one embodiment;

Fig. 6 is the vertical view C-C sectional view of single armed manipulator in the utility model one embodiment.

The specific embodiment

Describe embodiment of the present utility model below in detail, the example of described embodiment is shown in the drawings, and wherein identical or similar label is represented identical or similar elements or the element with identical or similar functions from start to finish.Be exemplary below by the embodiment that is described with reference to the drawings, only be used for explaining the utility model, and can not be interpreted as restriction of the present utility model.

In description of the present utility model, term " interior ", " outward ", " vertically ", " laterally ", " on ", close the orientation of indications such as D score, " top ", " end " or position is based on orientation shown in the drawings or position relation, it only is the utility model rather than require the utility model therefore can not be interpreted as restriction of the present utility model with specific orientation structure and operation for convenience of description.

See also Fig. 1 and Fig. 2, Figure 1 shows that the front view of single armed manipulator in the utility model one embodiment, Figure 2 shows that the stereogram of single armed manipulator in the utility model one embodiment.

In the present embodiment, the single armed manipulator comprises: column 1, waist seat 10, connector 50, the first arm 20A, the second arm 20B, terminal link 30, catching 40, the described first arm 20A and the described second arm 20B comprise butt end and thin end.

In the present embodiment, described connector 50 is cylindrical, is arranged in described column 1.In the present embodiment, be provided with first motor 8, elevating bracket 9, first reductor 11 in the column 1.In the present embodiment, described connector 50 can be in described column 1 be done rectilinear motion up and down along the above-below direction of the axis of described column 1.

In the present embodiment, described waist seat 10 is plate shaped, fixedlys connected with described connector 50 with its bottom.

In the present embodiment, described waist seat 10 is fixedlyed connected with the butt end of the first arm 20A, and the described first arm 20A and described waist seat 10 can be around the axis rotations of described column 1.

In the present embodiment, the butt end of the thin end of the described first arm 20A and the described second arm 20B flexibly connects, and the described second arm 20B rotates on the plane with the parallel plane second arm 20B place, the described first arm 20A place around the thin end of the described first arm 20A.

In the present embodiment, the butt end of the described second arm 20B is identical with the thin end radian of the described first arm 20A, can effectively reduce space shared in motion process.

In the present embodiment, described terminal link 30 flexibly connects with the thin end of the described second arm 20B, and described terminal link 30 is the plane rotation at parallel plane terminal link 30 places, the described second arm 20B place around the thin end of the described second arm 20B.

In the present embodiment, described catching 40 is roughly Y-shaped, flexibly connects with described terminal link 30.In the present embodiment, described terminal link 30 is made up of cuboid and semicircle piece, cuboid one end and described catching 40 flexibly connect, the radian size of semicircle piece is consistent with the thin end of the second arm 20B, flexibly connect with the thin end of the second arm 20B, do not take additional space to guarantee the second arm 20B.

In the present embodiment, described waist seat 10 can be done rectilinear motion up and down with described column 1 rotation and along the above-below direction of described column axis with described connector 50.

In the present embodiment, described catching 40 can be carried out rotary movement at any angle around the axis of described catching 40.

When described column 1 is fixed, described waist seat 10, described connector 50 and the described first arm 20A are around described column 1 rotation, the second arm 20B rotates around the described first arm 20A, described terminal link 30 rotates around the second arm 20B, described catching 40 is moved with vertical line and the described vertical line of mistake of described terminal link 30 edges perpendicular to the axis of described connector 50, and the axis of described vertical line and described connector 50 is coplanar.

See also Fig. 3, Fig. 4, Fig. 5 and Fig. 6, Figure 3 shows that the vertical view of single armed manipulator in the utility model one embodiment, Figure 4 shows that the vertical view A-A sectional view of single armed manipulator in the utility model one embodiment, Figure 5 shows that the vertical view B-B sectional view of single armed manipulator in the utility model one embodiment, Figure 6 shows that the vertical view C-C sectional view of single armed manipulator in the utility model one embodiment.

In the present embodiment, elevating bracket 9 is arranged in column 1, first reductor, 11 1 ends are fixed on the described elevating bracket 9, the other end is fixed on the described connector 50, input is connected with first motor 8, described connector 50 is fixedlyed connected with described waist seat 10, second reductor, 15 1 ends are connected with described waist seat 10, the other end is connected with first belt wheel 16, input is connected with second motor 13, first belt wheel 16 and first shaft assembly 18 are with 17 to flexibly connect by first synchronously, first shaft assembly 18 is rotatably connected on the first arm 20A by clutch shaft bearing 19 and second bearing 20, waist seat 10 is fixedlyed connected with the first arm 20A, second shaft assembly 21 and second belt wheel 22 are fixedly connected on the first arm 20A, and be rotatably connected on the first arm 20A by the 3rd bearing 27, second belt wheel 22 and the 3rd shaft assembly 24 are with 23 to flexibly connect by second synchronously, and the 3rd shaft assembly 24 is rotatably connected on the described second arm 20B by the 4th bearing 25 and the 5th bearing 26.Described terminal link 30 is fixedlyed connected with the 3rd shaft assembly 24, and the described second arm 20B and described terminal link 30 are driven by described second motor 13, and the described first arm 20A, described waist seat 10, described connector 50 are driven by described first motor 8.

Described first motor 8 and 13 coupled motions of described second motor.When described first motor, 8 output movements, retarded motion is driven associated component motions such as described connector 50, described waist seat 10, the described first arm 20A by described first reductor 11, simultaneously described second motor 13 is exported retarded motion by second reductor 15 by first belt wheel 16, first belt wheel 16 is with 17 to pass motion to first shaft assembly, 18, the first shaft assemblies 18 and will rotatablely move jointly with the second arm 20B by first synchronously.Because the stable drive ratio coupled motions of the change of relative position and described first motor 8 and described second motor 13, the 3rd shaft assembly 24 is with 23 flexibilities to be transmitted on second belt wheel 22 by second synchronously, the 3rd shaft assembly 24 will drive described terminal link 30, and rectilinear motion is done in catching 40.

Single armed manipulator in the utility model is by first motor 8 and 13 coupled motions of second motor, realize when controlling the first arm 20A and the second arm 20B and rotatablely move that terminal link 30 carries out rectilinear motion, reduce the occupation rate in space when effectively raising single armed manipulator efficient.

Claims

1. single armed manipulator comprises: column, waist seat, connector, first arm, second arm, terminal link, catching, first motor and second motor, described first arm and described second arm comprise butt end and thin end respectively, wherein:

Described connector is cylindrical, is arranged in described column;

Described waist seat roughly is plate shaped, fixedlys connected with described connector in its bottom;

The butt end of described first arm is fixedlyed connected with described waist seat, and the thin end of described first arm and the butt end of described second arm flexibly connect, and the thin end of described second arm and described terminal link flexibly connect;

Described catching is roughly Y-shaped, flexibly connects with described terminal link;

Described first motor and the described second motor coupled motions drive described first arm and second arm jointly, and control described terminal link and carry out rectilinear motion.

2. single armed manipulator as claimed in claim 1 is characterized in that, described connector can be in described column be done rectilinear motion up and down along the above-below direction of the axis of described column.

3. single armed manipulator as claimed in claim 1 is characterized in that, described waist seat and described connector can be done rectilinear motion up and down around described column rotation and along the above-below direction of described column axis.

4. single armed manipulator as claimed in claim 1 is characterized in that, described catching is carried out rotary movement at any angle around the axis of catching.

5. single armed manipulator as claimed in claim 1, it is characterized in that, when described column is fixed, described waist seat, described connector and described first arm rotate around described column, described second arm rotates around described first arm, described terminal link rotates around described second arm, and described catching and described terminal link carry out rectilinear motion along the vertical direction of the axis of described connector, and the axis of described vertical line and described connector is coplanar.