公开(公告)号：US5885052A

公开(公告)日：1999-03-23

申请号：US866447

申请日：1997-05-30

申请人： Kazuhiko Tsuji ,  Yasuaki Murakami ,  Eisaku Takinami ,  Masaharu Suzuki

发明人： Kazuhiko Tsuji ,  Yasuaki Murakami ,  Eisaku Takinami ,  Masaharu Suzuki

IPC分类号： B65G49/07 ,  B25J9/00 ,  B25J9/06 ,  B25J9/10 ,  B25J18/00 ,  H01L21/677 ,  B25J18/04

CPC分类号： B25J9/1065 ,  B25J9/104 ,  Y10T74/20323

摘要： A robot arm and an apparatus for transferring an article. The robot arm includes a movable hand for holding the article. A first arm has a proximal end that rotatably supports a drive pulley and a distal end that rotatably supports a driven pulley. The pulleys are connected to each other by a belt. A second arm and a third arm each have a proximal end and a distal end. The proximal ends of the second and third arms are pivotally supported by the driven pulley. The distal ends of the second and third arms are pivotally coupled to the hand. The driven pulley, the second arm, and the third arm cooperate with the hand to define a parallel linkage mechanism. A first motor pivots the first arm about its proximal end. A second motor rotates the drive pulley. A pivoting mechanism pivots the second arm about its proximal end relative to the first arm in correspondence with the pivoting of the first arm.

摘要翻译： 机器人手臂和用于传送物品的装置。 机器人手臂包括用于保持物品的活动手。 第一臂具有可旋转地支撑驱动滑轮的近端和可旋转地支撑从动滑轮的远端。 滑轮通过皮带彼此连接。 第二臂和第三臂各自具有近端和远端。 第二和第三臂的近端由从动滑轮枢转地支撑。 第二和第三臂的远端枢转地联接到手。 从动皮带轮，第二臂和第三臂与手配合以限定平行连杆机构。 第一马达围绕其近端枢转第一臂。 第二个电机旋转驱动皮带轮。 枢转机构使第二臂相对于第一臂的枢转相对于第一臂围绕其近端枢转。