Robot

Abstract

To provide a robot in which a long vertical stroke of a hand section is ensured while avoiding increase in size and weight of the entire body of the robot device, and the hand section is moved at high speed. The robot has a first frame 3 for vertically movably supporting the hand section 2, and a second frame 4 for vertically movably supporting the first frame 3. The first frame 3 has a first ball screw 5 for vertically moving the hand section 2, and a second ball screw 6 for vertically moving the first frame 3 with respect to the second frame 4, and the ball screws are arranged in the vertical direction in parallel with each other. Further the first frame 3 houses therein a motor 9 which is directly or indirectly connected to a first gear rotatable with the first ball screw 5 in one body, and a second gear rotatable with the second ball screw 6 in one body.

Description

[0001] This application is a divisional application of the invention patent application with the application number 200510108544.0 and the invention name "robot" submitted by the applicant on September 30, 2005. technical field [0002] The present invention relates to a robot, and more particularly to an improvement in the structure of a robot having a hand for holding a workpiece. Background technique [0003] A conveying robot having a hand holding a workpiece is used as a device for storing or conveying glass substrates for liquid crystal panels (these are referred to as "workpieces" in this specification) in a workpiece storage box. [0004] There is a kind of robot in the prior art, as shown in Figure 5, on the fixed frame 101 that is made of fixed pillar, there is the guide 102 of up and down direction, makes hand 103 move up and down along this guide 102 (in the figure Symbol A indicates the overall height of the device). As a structure for moving the hand 103 up an...

AI Technical Summary

Problems solved by technology

[0006] However, in the robot constituted in this way, when a large stroke in the up and down direction (indicated by symbol S in FIG. 5 ) is required, the guide 102 must be extended up and down, and the height of the fixed frame 101 must be increased accordingly.

In this case, since the overall height A of the device will inevitably become larger and must be supported firmly, there is a problem that the entire robot becomes larger and heavier

[0007] In addition, when a structure in which the hand 103 is moved along one guide 102 is adopted, if the workpiece is to be moved up and down quickly, the hand 103 can only be raised and lowered at a corresponding speed. Small, and if it is made to operate at high speed, the life of parts, etc. will be shortened accordingly

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