Vertical Robot Wrist Assembly With Parallel Motors for Dual-Hand Layout
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Solution Overview
Problem
Conventional horizontally articulated robots (SCARA robots) used for substrate transport lack efficient space utilization and weight reduction when equipped with a double hand configuration, limiting their applicability in confined layouts.
Innovation Solution
A vertical articulated robot design with a double hand configuration, featuring a wrist unit and parallel arrangement of three motors within the holding arm, utilizing harmonic drives and gear mechanisms to enable independent rotation of both hands, reducing weight and improving space efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a double hand configuration is equipped on horizontally articulated robots, then dual-hand functionality for substrate handling is achieved, but weight and space utilization are compromised
Solution Approach 1:
The patent transitions from horizontal articulation to vertical articulation, changing the spatial dimension of robot operation. The wrist unit with two hands arranged vertically along the arm's longitudinal direction enables dual-hand functionality while reducing the robot's footprint and improving space utilization compared to horizontal configurations
2Adaptability or versatility
If a double hand configuration is equipped on horizontally articulated robots, then dual-hand functionality for substrate handling is achieved, but space efficiency in confined layouts is reduced
Solution Approach 1:
By arranging the two hands vertically along the longitudinal direction of the arm rather than horizontally, the patent reduces the robot's horizontal footprint. This vertical arrangement allows the robot to operate effectively in confined spaces while maintaining dual-hand functionality for substrate handling tasks
3Weight of moving object
If three motors are arranged in parallel within the holding arm, then weight and space efficiency are improved, but motor housing and alignment complexity increases
Solution Approach 1:
The patent integrates all three motors (wrist axis motor, first hand axis motor, and second hand axis motor) within the holding arm structure, merging their housing and support functions into a single integrated assembly. This consolidation reduces overall weight and improves space efficiency while the parallel arrangement simplifies the drive mechanism compared to sequential or distributed motor configurations
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 design allows for reduced weight and improved space efficiency, enabling the robot to operate effectively in confined spaces while maintaining dual-hand functionality for substrate handling and loading tasks.
Implementation Method 1
a wrist axis motor, a first hand axis motor, and a second hand axis motor, functioning as drive sources for the wrist axis, the first hand axis, and the second hand axis
Implementation Method 2
a first gear, on which the first intermediate axis is journaled; a second gear, on which the first hand axis is coaxially journaled, which is in mesh with the first gear; a third gear, on which the second intermediate axis is journaled; and a fourth gear, on which the second hand axis is journaled, which is in mesh with the third gear
Data Source
AI summary
A vertical articulated robot with a double hand mechanism for weight reduction and space efficiency of a wrist unit. The robot includes: a wrist unit with first and second hands; a fifth axis for wrist unit rotation; sixth and seven axes for first and second hands rotation; fifth, sixth, and seventh axis motors, parallelly housed within the holding arm; a first intermediate axis, coaxial with the fifth axis and operatable due to the sixth axis motor; a second gear, on which the sixth axis is journaled, in mesh with a first gear, on which the first intermediate axis is journaled; a second intermediate axis, coaxial with the fifth axis and the first intermediate axis and rotatable due to the seventh axis; and a fourth gear, on which the seventh axis is journaled, in mesh with a third gear, on which the second intermediate axis is journaled.