| 摘要 |
PURPOSE: An articulated robot type perpendicular lifting device is provided to supply the articulated robot type perpendicular lifting device suitable for a special case like narrow processing space or movement interfered by an overlapped moving line with facilities when moving in a factory including complex processing facilities. CONSTITUTION: An articulated robot type perpendicular lifting device comprises a base plate(10), a base link bar, a cassette plate(30), a cassette link bar(300), a joint link bar(20), an upper link arm(1), a lower link arm(2), a first actuator(40), and a second actuator(50). The base link bar comprises a first base link and a second base link and is connected to the base plate. The cassette plate is formed in a direct lower part of the base plate, and articles transferred to the lower part are mounted. The cassette link bar comprises a first cassette link and a second cassette link and is connected to an upper part of the cassette plate. The joint link bar comprises a first joint link, a second joint link, and a third joint link and is formed in the center of the base link bar and the cassette link bar. The upper link arm comprises a first upper link arm(1-1) and a second upper link arm(1-2) and is formed between the base link bar and the joint link bar. The lower link arm comprises a first lower link arm(2-1) and a second link arm(2-2) and is formed between the joint link bar and the cassette link bar. The first actuator is connected to the second base link and changes an angle between the base plate and the second upper link arm. The second actuator is connected to the second joint link and changes the angle between the second upper link arm and the second lower link arm.
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