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    A robot arm mechanism comprising a plurality of handling members
    2.
    发明公开
    A robot arm mechanism comprising a plurality of handling members 有权
    具有多个处理部件的机器人手臂的机构

    公开(公告)号：EP1249318A2

    公开(公告)日：2002-10-16

    申请号：EP02252448.2

    申请日：2002-04-04

    申请人： Teijin Seiki Co., Ltd.

    发明人： Okuno, Chohei ,  Mori, Hiroki, c/o Tsu Plant of ,  Watanabe, Tetsuya, c/o Tsu Plant of

    IPC分类号： B25J9/10

    CPC分类号： H01L21/68707 ,  B25J9/1065 ,  Y10T74/20305 ,  Y10T74/20317 ,  Y10T74/20329

    摘要： A robot arm mechanism (200) includes a handling member (214,215) for supporting and handling an object, a robot arm (220) made up of a plurality of links, and a robot arm driving mechanism (400) for driving the robot arm (220) to assume its contracted and extended position. The robot arm (220) comprises first and second arm links (210,211), a link retaining mechanism (229) pivotably retaining the first and second arm links (210,211) and a link operating mechanism (232) to operate one of the first and second arm links (210,211) by a motion of the other of the first and second arm links (210,211). The link operating mechanism (232) comprises a crank (202), a coupling link (203) and a connecting link (204). The crank (202) integrally connected to the coupling link (203) is pivotably connected to one of the first and second arms (210,211) and to the link retaining mechanism (229). The connecting link (204) is pivotably connected to the other of the first and second arms (210,211). This leads to the advantage that the robot arms can be contracted and extended and rotated by only two electric motors.