Compact Traversing Robot With Nested Actuators for Shallow Vacuum Chambers
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Solution Overview
Problem
Existing material-handling robots require substantial depth and volume in vacuum environments due to the spindle assembly, Z-axis mechanism, and coaxially stacked motors, which increases the size of the vacuum chamber.
Innovation Solution
A traversing robot design with a spindle platform, lift system, and movable arms that allow for vertical nesting of motors and components, reducing the vertical space occupied by the robot and thus the vacuum chamber depth.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional spindle assemblies, Z-axis mechanisms, and coaxially stacked motors are used, then the robot can perform material handling operations, but the vertical space and volume of the vacuum chamber increase substantially
Solution Approach 1:
The patent applies nesting by placing the actuator inside the movable arm structure. The actuator extends from the spindle platform into the first link, occupying the combined thickness space of the spindle platform and the first link. This nested arrangement allows the robot to perform material handling operations while substantially reducing the vertical space and volume required in the vacuum chamber.
2Ease of manufacture
If substantial depth and volume of vacuum chamber is allocated, then the spindle assembly and Z-axis mechanism can be accommodated, but the overall system size increases
Solution Approach 1:
The patent repositions the actuator from a traditional external mounting arrangement to an integrated position within the movable arm structure. By extending the actuator from the spindle platform into the first link, the design utilizes the combined thickness dimension of the spindle platform and first link, thereby reducing the vertical space and depth requirements of the vacuum chamber while still accommodating all necessary mechanical components.
Data Source
AI summary
An apparatus includes a spindle platform; a traversing platform configured to move in a first direction; a lift system connected to the spindle platform and the traversing platform, the lift system configured to move the spindle platform in a second direction perpendicular to the first direction; a movable arm connected to the spindle platform, the movable arm including a first link connected to the spindle platform, a second link connected to the first link, and a third link connected to the second link, and a first actuator connected to the spindle platform and configured to cause a rotation of the first link, and a second actuator in the movable arm and configured to cause a rotation of the second link. The first actuator extends from the spindle platform into the first link to occupy a combined thickness of the spindle platform and the first link.