TWI307307B - - Google Patents

Description

% 1307307 IX. Description of the Invention: [Technical Field to Which the Invention Is Along] The present invention relates to a handling robot for carrying an object. In particular, the present invention relates to a continuous device that is contained in a transport robot and that serves as a power transmission. [Prior Art] Patent Document 1 listed below discloses an example of a conventional transport robot. The transport robot linearly transports, for example, a glass substrate, etc.

2. The transfer robot has a link device for transmitting the mechanical power supplied by the drive to the seat on which the object is placed. The main parallel linkage mechanism of the link device, that is, the power of the first parallel link mechanism and the first (fourth) axis is first transmitted to the first parallel link mechanism, a flat link mechanism, and finally transmitted to the object to be transported. The first parallel arm mechanism includes a first main arm and a first connecting member. The first * poverty alleviation and the third, fixed at the end of the drive shaft, and the ## is functionally as the "driver-external power transmission" "will be equal from the main arm" The "# 立. The first jib has the length of the first-"", and the first first main arm and the first jib are the same as the first main arm. Further, the first connecting member connects the first main: the distance from the front end. The first main arm and the cymbal are good (the heart and the first jib are rotated to the ground. By the first connecting member 冓w, the first connecting member is arranged according to the first

2215-8123-PF 1307307 Moves the first jib to oscillate and keeps the two always parallel. The first jib is functionally referred to as the "following section (five) I〇wer), and is moved from the other parts by the supply of power. - 连 ::: 行: The rod mechanism includes a second main arm, a second jib, and a first coupling member. The second main arm is named Gongkongchu.铯 如 , , — — — — — — — — — — — — — — — — — — — — — — — — — — — — — - the two distances of the other movements penetrating the first coupling member are equal to the above-mentioned predetermined distance: 2: the member connects the front end of the second main arm and the front end of the second auxiliary arm: The raft structure can be relatively rotated about the second joint member. The structural member keeps the second intermediate body always parallel according to the swing of the second main arm. Further, the carrier of the object is placed in the second connection α. move! : Swing of the main arm - the pair of gears, and the swing of the first-arm are connected. The main components of the above-mentioned main body swing, and the object moves linearly. The structure of the interlocking will be described below. Knot. : the first and the first: the end of the main arm and the first connecting member are connected to the first main arm body & a gear called a first gear. One axis. The other gear, which is shared by the gear and the first connecting member, is called the first one. In the first main arm, a shaft called a second gear is called a second shaft. The first gear and the second... rotate. The ω wheels are meshed and reversed from each other. According to this configuration, when the object is oriented toward the first arm toward the clockwise direction, (3) is rotated counterclockwise.

2215-8123-PF 1307307 and 'the case where the object is moved in the direction opposite to the anti-Reds.' The first arm is facing in the opposite direction °: the first arm is rotated in the clockwise direction. However, when the object is moved in one direction and moved in the opposite direction, it is easy to move the target object to the target position without being able to move the target object to the target position. ψ , 七ρ 、 , ·, The 24th system occurs when the moving direction of the object is reversed, that is, the moment when the swinging direction of the arm is reversed, the 'the first gear and the second gear' are not transmitted from the first gear to the second gear. SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and an object of the present invention is to provide a link device that can move an object to be moved to a correct position, and a transfer robot including such a link device. In order to solve the above problems, the following technical means are employed in the present invention. The link device according to the first aspect of the present invention includes: one pair of first link arms parallel to each other; one pair of second link arms parallel to each other; a first connecting member, the pair The first link arm is coupled to be swingable about a pair of first axes and the second link arm is coupled to be rotatable about the second axis; the second link member is the pair of second links The arm is coupled to be swingable; a first gear, and the pair of first link arms are each integrally rotated about the first axis; and the second gear is integrally formed with the pair of second link arms Rotating around the second axis. One of the two first gears and one of the two second gears constitute a first engagement pair, and the other of the two first gears and the other of the two second gears constitute a first Two card pairs. In the case where the pair of first link arms are rotated in the first direction, only

2215-8123-PF 7.1l3 〇 73 〇 7 The first and second gears constituting the first engagement pair transmit the rotational force of the first link arm to the second link arm. In the case where the pair of first link arms rotate in a second direction opposite to the first direction, the first link arm is rotated only via the first and second gears constituting the second engagement pair. Power is communicated to the second link arm. Preferably, the link device of the present invention further includes: supporting the first link arm to be rotatable about the first axis; and supporting the second link arm to be rotatable about the second axis The second shaft body. The first gear is fixed to the first shaft body, and the second gear is fixed to the second shaft body. Preferably, the first shaft body and the second shaft body are fixed to the first link arm or the second lever arm via a locking means that adjusts a mounting angle of the first shaft or the second shaft.

A link device constructed as described above. From the detailed description shown below,

The invention will be more clearly understood

[Embodiment] Hereinafter, a link device of the present invention will be specifically described with reference to the drawings, and

2215-8123-PF 8 1307307 A preferred embodiment of a handling robot for a device. Figs. 1 to 7 are views showing the components of the link device a, with reference to Fig. 1 and Fig. 2, which are diagrams of the transport robot including the link device of the present invention. The moving robot includes a link device provided on the upper portion of the fixed base A. The cup device A is used to linearly move the object to be transported in the horizontal direction. The connecting rod device A includes a first parallel link mechanism Ai, a second rod mechanism A2, a gear box 3, a universal shift, a weight two, a link device A, a f〇, a pair of first axes fl, For the second axis f2, and a pair of third, a f3. These shafts are medium to various swinging or rotating components. The distance between the two axes of the five types is equal. The first parallel link mechanism A1 has a pair of first link first-coupling members (intermediate connecting members) 12. The first link arm swings around the second (four) of the fixed base 1. = (d) A pair of first-link arms 1G, U are connected to f, , , . The member U is relatively rotatable with respect to the first coupling member 12. [The link arm 10 and the second parallel link mechanism A2 have a pair of second coupling members (moving the trunk 2, 21 and wearing the first coupling member = the shaft = arm - each of the pair of members 22 will be a pair The second connecting wild brother - the connecting rod arm 2 〇, the 2 arm 2 〇, 21 and the second connecting link are parallel. The second connecting rod arms 10, 11 and - are rotated to the opposite direction. The length of the first and second armatures 2 and 21 are equal to each other. The gearbox 3 is used to connect the first to the first core link A1 and the second parallel link.

2215-8123-PF J307307 Rod mechanism A2 linkage. The gear case 3 is disposed at an end portion of the first link arms ι, u and below the first coupling member 12. The gear case 3 houses a gear train for interlocking the first link arms 10, 11 and the second link arms 20, 21. The conveyance table 4 is used, for example, to place a conveyance target G such as a glass substrate. The transfer table 4 is fixed to the upper portion of the second joint member 22. The fixed base 1 houses a drive motor Μ or a drive shaft s for transmitting a rotational driving force to the link device A. Further, the fixed base i also houses a rotating device for rotating the drive motor or the drive shaft s about the vertical axis or a lifting device (not shown) that moves up and down in the vertical direction. With the lifting device, the link device A can be rotated integrally or vertically with the drive motor M or the drive shaft s. Next, the first parallel link mechanism M will be described in more detail. In the first embodiment, the link arm 10 is connected to the link motor via the drive shaft, and thus the force # & is used as the prime mover. The first sample #10 is swung against the fixed base 1. The other side of the link arm 11

Hold the brother and the link arm n ± face swing. The center of those swings is a pair of brothers who draw f 〇. In the end portions of the first link arm _ each of the white and the ends, as shown in Fig. 3, the first wheel 1 is fixed by the bolts 14, and the body 13 is fixed. The first shaft body 13 is supported by a bearing 16. The first shaft body 1 3 can be connected to the first one, '. The member 12 and the gearbox 3 are rotated. The center of the rough rotation of the valley from the first axis corresponds to one of the first-axis fl. The fine is swung by a pair of first link arms and gear boxes s 0, 11, and the first connecting member 12 moves for a long time ω % phase 3 . In this 10 τ, the first link arms 1 and 11 respectively rotate relative to the first m member 12 around the corresponding first glaze f1.

2215-8123-PF 10 1307307 As the first gears 100, 110 are each rotated about the corresponding first axis fl. Next, the second parallel link mechanism A2 will be described in more detail. As shown in Fig. 3, the pair of second link arms 20, 21 are disposed on the upper side of the first link member 12, and thus are stereoscopically intersected with the pair of first link arms 丨丨 and 丨丨. Therefore, the first link arms 10, U and the second link arms 2, 21 do not interfere with each other and can be appropriately swung. The second shaft body 23 is fixed to each of the second link arms 2, 21 by bolts 24. The second shaft body 23 is supported by bearings 26, respectively. The second shaft body 23 is rotatable relative to the [connection member 12 and the gear case 3]. The center of the rotation of the respective second shaft body 23 corresponds to the second axis f2. The 々 gear box 3 houses the first gears 100, 11 〇 and the second gears 2 〇〇 21 〇. The first gears 100, 11 are each fixed to the lower end of the corresponding first shaft body 13. The two gears 200, 210 are each fixed to the lower end of the corresponding second shaft body 23, the first gears 100, 110 and the second gear 200, respectively. , 210 mesh. The second end members 22 are oscillated as shown in Figs. 1 and 2, respectively, at the end portions of the second cups 20 and 21. The center of those swings is a pair of third axes f 3 . Its people's description of the main part of the formation. As shown in Figs. 3 and 4, a plurality of long holes 25 are provided in the head portion of the second shaft body 23. The bolt 24 is inserted through each of the long holes, and the screw 24 is locked to the first cup arm 20 or 2. The second shaft body 23 and the second link arms 2, 21 are fixed to each other. According to the seed structure, the second link arm 2〇, 21 can be adjusted.

2215-8123-PF 1307307 The relative angle between each and the corresponding second shaft body 23. = The next step is to adjust the relative rotation of the second shaft (2) in the first step. First, as shown in Fig. 5, the first link arms 1 and 11 and the second link arms 20 and 21 are arranged. The location. The first and right shaft bodies 13 of the pair of 110 and 110 are completely fixed to each other, and the arms 11 are also completely fixed to the corresponding first shaft bodies 13. The second shaft (four) corresponding to the gears 200, 210 is completely fixed. Alternatively, the second link arm 20 or 21 is temporarily fixed to the corresponding second shaft body 23, respectively. After the bolt 24 is released, the arm and the first shaft body 23 are adjusted to the second link arm by rotating the corresponding second pump body 23 about the second shaft [2]. The relative angle between. Specifically, the two gears are brought into contact with each other to make the first gear 10. The rotation is started in the counterclockwise direction of the figure while the second gear 200 is rotatable in the clockwise direction. That is, as shown in Fig. 5, the left side surface of the one tooth of the first gear 1 is abutted against the right side surface of one of the teeth of the second gear 200. In other words, there are two # gears 2 adjacent to one tooth of the first gear (10), and the teeth of the first gear_ and the teeth on the left side thereof abut. Then, the thread check 24 is locked, and the second shaft body 23 is fixed to the second link arm.

The sample area 'adjusts the relative angle between the second link arm 2'' and the corresponding second shaft body Μ. In this case, as shown in FIG. 5, the right side of the first gear " — and the left side of the second 21G are offset, in other words, one tooth and the first of the first gear 110 According to this configuration, the first 2215-8123-PF 12 1307307 gear 11 0 faces the clockwise direction 21 该 of the figure toward the counterclockwise direction. The direction rotation is performed by the above assembly steps, the first link arm 丨0, 丨丨 is oriented toward the second: the first link arm 20, 21 is not subjected to the gear group, and the swing can be started immediately. That is, in Fig. 5, the lunar space ^11 swings clockwise around the first side: two, U, U. In the vicinity of the first axis " toward the clockwise::: Han (W, the first gear 110 of one side turns a n counterclockwise. As a result, the nJi wheel 210 faces the _ music-hand cup arms 20, 21 Rotating counterclockwise around the first cylinder. That is, the first gear U. and the gear 21G constitute a pair of engagement pairs, and in the first rotation, only the first and second pairs of the engagement pair are formed. The configuration of the driving of the second link arm toward the clockwise side. - With the wheel as a help, in the case where the pair of first link arms 1 〇, u are swung in the counterclockwise direction, the circumference of the circumference around the first fl Rotate counterclockwise.: Wheel i:, :0 on the first axis (10) makes the other second tooth clockwise - the second gear - the second link arm 2, 21 on the second axis, 2 = square: rotation. As a result, the first gear and the second gear are engaged in the counter-clockwise direction of the first link arm, and the first and second gears serve as the first component. According to the above configuration, the pair of gears can be avoided when the direction of the movement of the first and the =4 is changed.::22 and the position of the transport platform Conveyance deviation occurs. Skin caused by the gap 4

2215-8123-PF 13 1307307 Hereinafter, the conveyance operation of the link device string will be described with reference to Figs. 6 and 7. One of the Λ 连 取 取 取 取 取 取 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' Swing in the direction. As the second and fixed gearbox 3 moves toward the arrow. At this time, the color point of the connecting member 12, the first-axis f1 of the flute ^', the gears 100, 110 are each rotated in the clockwise direction corresponding to the two gears 210. The rotational force is transmitted to the mth ##' 第 第 第 第 该 该 = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = Swing in the direction. As a result, the transport table 4 is oriented; the rotational force toward the anti-wheel gear 1GG is not transmitted to the second gear coffee. : The following describes the case where the transfer table 4 is stopped. First, the swing of the first link arms 10, 11 is stopped. The swing of 21 stops. In the case where the m-arms 20 and 21 of the stop system are in the case of a flute* T system emergency, the second link arm 20 continues to move the I" the member 22 is at the position where it should be stopped, 'also due to inertia The first gear 100 and the second gear 20 abut each other. The swing caused by the inertia of the second link arm 2 is blocked. As a result, the transport D 4 is correctly stopped at the position where it should be stopped. The case where the conveyance table 4 is moved toward the direction of the arrow of the figure 6 is shown. The first tooth and the second gear 2 are engaged in the non-slanting state. As shown in Fig. 7, the first link arm 1〇, " each swings counterclockwise around the 0th axis f0 of the *.

2215-8123-PF 1307307 —The connecting member 12 will immediately move toward the 篦7 and move toward the direction of the arrow in the figure of the door. At this time, the viewpoint of the first connecting member 12 is turned from the wire, and the first gears_110 are rotated counterclockwise around the first circumference of the pair. The turning force is transmitted to the second tooth. As a result, the second link arm 20 fixed to the second tooth side faces the clockwise direction toward the clockwise toward the B* first arm member 20, and the second link arm 21 also faces the clockwise direction. Swing in the direction. . . move, , and D, the transfer table 4 moves toward the arrow 第 of Fig. 7. At this time, the first hammer 11 Λ the front wheel #it gear 110 does not move to the second gear 210, and the conveyance table 4 is stopped. First, the swing of 2, #arm 10, 11 stops. With the second link arm 20, 21 = V 纟 in the case of 4 stop emergency, the second link arm 20, 4, ''portal member 22 should be stopped at the position to be stopped, also by inertia: moving . At this time 'the first gear U. The second gear 210 abuts against each other: : 'Stops the swing caused by the inertia of the second link arm 21', and the transport port 4 is correctly stopped at the position where it should be stopped. In the final operation, the condition in which the transport table 4 is moved further toward the arrow of Fig. 6 will be described. The first gear 11 〇 and the second gear 21 0 are engaged in a state of no backing. The first-link arms i〇, 11 are swung. As the second link '21 swings immediately. Thus, the transfer table 4 is repeatedly moved and stopped, and is also stopped at the correct position without positional deviation. Further, the present invention is not limited to the above embodiments. For example, 'alternative (or additional) on the second link arms 2G, 21 and second

2215-8123-PF 15 • u〇73〇7 The adjustment means for the phase 1〇, u and the angle of the first axis between the shaft bodies 23 can also be used in the angle of the first-axis body of the first-link arm = 'Constituent. Further, by adjusting the first teeth, it is also possible to form a mounting angle with the second shaft body of the ϋ gear. Relative angle adjustment of the same effect as the embodiment [Simplified description of the drawings] Fig. 1 is an overall perspective view showing the form of a sentence. 3 The handling robot of the linkage device ί The top view of the transport robot shown in Fig. 1. The picture of the younger d is along the 9th ® m section. The main part of the ~ 111 line linkage device is shown in Fig. 4 and the qm π body diagram. #应的连接装置 The main part of the linkage is cut open. Figure 5 is a partial cutaway top view of the linkage device. It is used to illustrate the upper view of the advancement of the linkage. A top view for explaining the backward movement of the link device. [Description of main component symbols] Α linkage device Α1 first parallel link mechanism ^ A2 second parallel link mechanism 1 〇, 11 first link arm U first connecting member (intermediate connecting member)

2215-8123-PF 16 1307307 1 3 first shaft body 100, 110 first gear f1 first shaft 20, 21 second link arm 22 second joint member (moving member) 23 second shaft body 24 bolt 25 long Hole 200, 210 second gear f2 second axis

2215-8123-PF 17

Claims (1)

1307307 X. Patent application scope: 】·—the type of linkage device, including: parallel to each other—to the first link arm; parallel to each other—to the second link arm | first connecting member, the first - the shaft swings, and the 1 = link arm is connected and can be swung around a pair of two axes; the ten second link arms are connected so as to be connected around a pair of connected, mn 1 second link arms Swingable; - the shaft is a middle two-wheel, and the pair of first-link arms are each body-rotated about the glaze; and the two gears, and the pair of second link arms are each - the shaft is centered; the middle of the x-the-the-gear and the second of the two gears; the square-the first-to-engagement pair and the other of the two---the gear - the other of the second gears constitutes a second engagement pair; the s child (10) is rotated by the arm in the first direction, only by: the first and second gears of the first engagement pair, Transmitting the rotational force of the first flail arm to the second link arm; # in the case where the pair of first link arms are rotated toward the second direction opposite to the first direction 'Only via the first and second round of a first configuration of the second engagement pair - a rotational force to the link arm of the second link arm to convey. 2. The link device of claim 1, wherein the first link arm is supported to support a first-axis body that is rotatable about the first-axis and the second link arm Supporting a 2215-8123-PF 18 1307307 configuration of a second shaft that is rotatable about the second axis, the first gear is fixed to the first shaft, and the second gear is fixed to the second shaft. 3. The link device of claim 2, wherein the first shaft body and the second shaft body are fixed to the first shaft body and the second shaft body by a locking means capable of adjusting a mounting angle of the first shaft or the second shaft a link arm or a second link arm. 4. The link device of claim 1, wherein one tooth of the first gear belonging to the first engagement pair passes through the predetermined side and the second gear belonging to the pair Contacting, and one tooth ' of the first gear belonging to the second engagement pair is in contact with the second gear belonging to the first engagement pair via the side opposite to the predetermined side. 5. The link device of claim </ RTI> wherein the first link arm and the second link arm are configured to form a body shape.包括 Included in the patent application model is a handling robot, characterized in that: the link of any one of the cofferdams 1 to 5 is disposed. 2215-8123-PF 19