Conveyance Robot Arm Link Mechanism for Heavy Substrate Handling
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Solution Overview
Problem
Conventional conveyance robots require excessive driving power and a complex structure to ascend and descend heavy substrates like large glass substrates, leading to increased power consumption and structural complexity.
Innovation Solution
A conveyance robot design that incorporates a first link member, a second link member, and a holding member connected through an arm link mechanism, with the ascending and descending drive unit placed between the first link member and the holding member, allowing for reduced driving power and simplified structure by minimizing the number of members and optimizing the movement of the drive unit in the horizontal plane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the robot arm is configured with members having enough rigidity to convey heavy articles, then the weight of the arm becomes large, but the ascending and descending driving power needed increasingly becomes larger
Solution Approach 1:
The robot arm is divided into multiple link members (first link member, second link member, third link member) connected by rotation joints. The ascending and descending drive unit is positioned between specific link members rather than driving the entire arm, segmenting the load distribution and reducing the power required for vertical movement.
2Ease of operation
If a mechanism to move the ascending and descending drive unit in the horizontal plane is disposed independently from the link mechanism, then the number of members increases, but the structure becomes more complicated and the exclusive area occupied is enlarged
Solution Approach 1:
The ascending and descending drive unit is integrated into the link mechanism itself, positioned between the first link member and the holding member. This merging eliminates the need for a separate independent mechanism for horizontal movement, reducing structural complexity while maintaining operational capability.
Data Source
AI summary
Described herein is a conveyance robot. In certain aspects, a conveyance robot can include a first link member configured to be rotatable about a first axis, a second link member configured to be rotatable about a second axis positioned at a predetermined distance relative to the first axis, a holding member configured to be capable of holding an article and rotating about a third axis positioned at a predetermined distance relative to the second axis, an ascending and descending drive unit for driving at least the holding member to ascend and descend. In certain aspects, an arm link mechanism can be included. The arm link mechanism can be constituted by connecting the first link member, the second link member, and the holding member in this order, and the ascending and descending drive unit is placed between the first link member and the holding member so as to form a part of the arm link mechanism.