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Double arm type robot

A robot and dual-arm technology, applied in the field of robotics, can solve problems such as the defects of dual-arm robots, the inclination of the center of gravity of the hand joint 140, etc.

Active Publication Date: 2008-06-11
ROBOSTAR
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] However, with such a structure, the center 140 of the hand joint 5 and the center of the workpiece 9 must be separated by a predetermined distance in the Y-axis direction.
[0010] That is, the center 140 of the hand joint 5 is offset from the center 150 of the workpiece 9, and the center of gravity of the hand joint 140 is inclined.
[0011] In particular, the weight of the liquid crystal glass panel, which has been enlarged due to the recent trend of increasing the size of the display device, is heavy, and the eccentricity of the hand joint 5 and the hand 8 due to the inclination of the center of gravity is accumulated, resulting in a double-armed robot. 1 fatal problem of defects

Method used

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Examples

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no. 1 example

[0034] The dual-arm robot according to the first embodiment of the present invention will be described in detail with reference to FIGS. 2 and 3 .

[0035] 2 is a top view showing the dual-arm robot according to the first embodiment of the present invention, FIG. 2a is a top view when both arms are in an extended position, and FIG. 2b is a top view when both arms are in a retracted position.

[0036] The dual-arm robot has a first arm 210 arranged at the top and a second arm 220 arranged at the bottom.

[0037] The dual-arm robot includes two sets of arms 210 and 220 that are rotatably connected by joints 217 , 219 , and 222 and that transmit rotational force from a rotational drive source (not shown) to perform operations.

[0038] The dual-arm type robot has two sets of robotic arms 210 and 220, one of which is used for feeding and the other is used for taking out, thereby performing the feeding operation and the taking-out operation of the workpiece 224, or is configured to...

no. 2 example

[0050] The second embodiment of the present invention is another embodiment capable of obtaining the same effect as the first embodiment, except that the positions of the rotation centers of the knee joints of the first robot and the second robot are different from those of the first embodiment, and other The structures are all the same.

[0051] 4 is a top view showing a dual-arm robot according to a second embodiment of the present invention, FIG. 4a is a top view when both arms are in an extended position, and FIG. 4b is a top view when both arms are in a retracted position. Refer to Figure 3 for the side view.

[0052] The double-armed robot has a first mechanical arm 210 disposed on the upper part and a second mechanical arm 220 disposed on the lower part, and is connected to be rotatable by joints 417a, 417b, 419a, 419b, 422a, 422b and transmitted by a rotational drive source. (not shown) generates rotational force and performs actions.

[0053] The dual-arm type robot...

no. 3 example

[0064] The third embodiment of the present invention is another embodiment capable of obtaining the same effects as those of the first embodiment, except that the positions of the rotation centers of the knee joints of the first robot and the second robot are different from those of the first embodiment. , all other structures are the same.

[0065] 5 is a top view showing a dual-arm robot according to a third embodiment of the present invention, FIG. 5a is a top view when both arms are in an extended position, and FIG. 5b is a top view when both arms are in a retracted position. Refer to Figure 3 for the side view.

[0066] The dual-arm robot has a first mechanical arm 210 disposed on the upper part and a second mechanical arm 220 disposed on the lower part, and is connected to be rotatable by joints 515a, 515b, 519a, 519b, 522a, 522b and transmitted by a rotational drive source. (not shown) generates rotational force and performs actions.

[0067] The dual-arm type robot h...

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Abstract

The present invention provides a two-arm type robot which comprises two groups of mechanical arms (210 and 220) that can rotatablely connected through the joint and transfer the rotary force generatedby the rotation driving source, a mobile component that adjusts the height of the up-and-down movement of two groups of mechanical arm (210 and 220), and the rotation center axes (217) of the shoulder joint parts (217a and 217b) of the two groups of mechanical arms (210 and 220) which is connected with the sliding pieces (216a and 216b) are arranged to upper-and-lower coaxially; the two groups ofmechanical arms (210 and 220) can rotate around the rotation center axis (215), and the rotation center axis (217) and the rotation center axis (215) are parallel arranged in the same straight line (226) in the expansion direction of the two groups of mechanical arms (210 and 220). According to the structure the rotation radius of the two-arm type robot is minimized and the gravity center excursion is prevented in the taking out and providing of the glass substrate used by liquid crystal.

Description

technical field [0001] The present invention relates to a robot, and more specifically, to a dual-arm robot that takes out and supplies a workpiece. Background technique [0002] In general, a dual-arm type robot has been used as a robot for taking out processed objects such as glass substrates for liquid crystals and semiconductor wafers from a feeder or conversely feeding them to a feeder. [0003] On the other hand, the size of the glass substrate for liquid crystals is proportionally larger as the size of the display device increases, and the size of the dual-arm robot can only be increased accordingly. This is the actual situation at present. The enlargement of the liquid crystal glass substrate and the dual-arm robot performs linear movement and rotational movement at the same time when taking out and supplying the liquid crystal glass substrate. At this time, the radius of rotation increases and takes up a large operating space, which reduces the freedom of the overal...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J3/00B25J17/00B25J18/00B25J19/00B65G49/05
CPCB25J9/0087B25J9/1612B25J15/00B25J17/00B25J18/04Y10S901/27
Inventor 朱贤奭朴贤雨
Owner ROBOSTAR
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