Robot arm device capable of conveying an article in circumferential and radial directions
Number of patents in Portfolio can not be more than 2000
United States of America Patent
Stats
-
Dec 24, 1996
Grant Date -
N/A
app pub date -
Dec 29, 1994
filing date -
Jan 10, 1994
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A robot arm device includes an expandable arm portion including an arm member, a forearm arm member, and a hand member. The arm member is fixedly attached with an arm drive wheel which is driven by a first drive motor. The arm member carries a transmission wheel disposed coaxially with the arm drive wheel and rotatable independently from the arm drive wheel and a forearm drive wheel disposed at a leading end of the arm member and rotatable independently from the arm member and fixedly connected at a base end of the forearm member. The forearm member carries a stationary wheel disposed coaxially with the forearm drive wheel and fixedly connected with the arm member and a hand drive wheel disposed at a leading end of the forearm member. The forearm drive wheel is drivingly rotated by a second drive motor in addition to a relative rotation due to a rotation of the arm member. A controller controls the first and second drive motors to rotate the first drive motor in a specified direction and rotate the second motor in the opposite direction at such an angular speed as to rotate the forearm drive wheel twice faster than the arm drive wheel in combination with the relative rotation of the forearm drive wheel.
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