Substrate Conveying Robot Linear Motion Pulley Ratio
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Solution Overview
Problem
Conventional substrate conveying robots with shared pivot axis lines and same height substrate holding members face interference issues and difficulty in maintaining a linear moving locus, leading to challenges in positioning the substrate holding members with sufficient flexibility in the X and Y directions.
Innovation Solution
A substrate conveying robot design with left and right arms having a common pivot axis line, featuring a specific pulley ratio configuration between turning, first, and second pulleys, along with a control unit to adjust the position of the substrate holding members, ensuring a substantially linear moving locus and flexible positioning in the X and Y directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the first link member and the second link member are set to the same length, then the moving locus of the tip end portion of the second link can be linear, but the second link members of the left and right arms interfere with each other or the second link member and the pivot axis line interfere with each other when changing the arms from their extended state to their contracted state
Solution Approach 1:
The patent applies asymmetry by setting the second link member shorter than the first link member, breaking the symmetric configuration. This asymmetric design prevents interference between the second link members of left and right arms during extension-contraction operations, while the pulley ratio compensation maintains sufficient linearity of the moving locus
2Object-affected harmful factors
If the length of the second link member is set shorter than the length of the first link member to solve interference problems, then the interference between second link members is eliminated, but the moving locus of the tip end portion of the second link member becomes curved and largely deviated from a straight line
Solution Approach 1:
The patent applies parameter changes by optimizing the pulley ratio between the first pulley (rotatable about the first rotational axis line) and the second pulley (rotatable about the second rotational axis line). This parameter adjustment compensates for the curved moving locus caused by the shorter second link member, restoring sufficient linearity to the moving locus of the substrate holding member while maintaining the interference-free configuration
3Object-affected harmful factors
If the moving locus of the substrate holding member is curved and largely deviated from a straight line, then interference problems are avoided, but positioning the substrate holding member in a target position becomes difficult and flexibility in adjusting position in the front-back direction and left and right direction is reduced
Solution Approach 1:
The patent applies parameter changes by optimizing the pulley ratio to restore linearity of the moving locus, which directly improves positioning flexibility and ease of operation. The linear moving locus enables the substrate holding member to be positioned accurately in target positions and allows flexible adjustment in both front-back and left-right directions
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution allows for a substantially linear moving locus of the substrate holding member during arm extension-contraction operations and enables high flexibility in adjusting the position of the substrate holding member in the X and Y directions, addressing interference issues and improving positioning accuracy.
Implementation Method 1
a belt connecting the turning pulley with the first pulley
Data Source
AI summary
A substrate conveying robot has left and right arms having a common pivot axis line, an arm drive unit for driving the left and right arms, and a control unit for controlling the arm drive unit. A pulley ratio between a turning pulley, a first pulley, a second pulley, and a third pulley is set so that a moving locus of the substrate holding members when the first link member is rotated about the pivot axis line by the first drive portion so as to extend and contract the arm in a state that the turning pulley is fixed is substantially linear. Thereby, the moving locus of the substrate holding member when extending and contracting the arm can be substantially linear.