Material or article handling – Horizontally swinging load support – Swinging about pivot
Patent
1988-07-05
1990-08-07
Spar, Robert J.
Material or article handling
Horizontally swinging load support
Swinging about pivot
901 4, 901 21, 414917, 414733, 414709, B66C 2300
Patent
active
049463373
ABSTRACT:
In a precision operable robot arm comprising four levers pivotally connected with each other into a paralle arranged link form, when one ends of first and second levers aligned vertically, for example, are driven respectively by two motors such that the levers are swung around the alignment axis in a horizontal plane, for example, a work supporting device provided at an outwardly extending end of the fourth lever is also moved in a horizontal plane.
A first pulley is fixedly secured to a position aligning with the driving shafts of the two motors, while second and third pulleys, which are integrally rotatable, are rotatably supported by a pivot pin coupling the second and fourth levers, and fourth pulley rotatably supported at the outer end of the fourth lever is fixed to the work supporting device. First and second belts are extended around the first pulley and the second pulley, and the third pulley and the fourth pulley, respectively, so that the work supporting device is held in the same posture regardless of the movement thereof in the plane.
REFERENCES:
patent: 3591025 (1971-07-01), Perrott
patent: 4300198 (1981-11-01), Davini
patent: 4341502 (1982-07-01), Makino
patent: 4378836 (1983-04-01), Moussault
patent: 4396344 (1983-08-01), Sugimoto et al.
patent: 4398863 (1983-08-01), Shun
patent: 4648785 (1987-03-01), Nakagawa et al.
Matsushita Shigeo
Tonai Shuichi
Hienz William M.
Kabushiki Kaisha Yaskawa Denki Seisakusho
Spar Robert J.
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