Material or article handling – Horizontally swinging load support – Swinging about pivot
Patent
1985-01-24
1987-10-27
Spar, Robert J.
Material or article handling
Horizontally swinging load support
Swinging about pivot
74 96, 742163, 901 15, 901 21, 901 23, 901 25, B25J 1800
Patent
active
047026685
ABSTRACT:
A direct drive robot which includes a pedestal having two motors which rotate around a common axis to directly drive rotation of first and of second linking arms which are rotating in a plane perpendicular to this pedestal. The first, inner link is preferably driven through a column directly driven by a first motor rotor, the column supporting the inner end of the link. The second, outer link is driven by the second coaxial direct drive motor through a simple, highly-tensioned belt and pulley arrangement. As a result of this direct drive arrangement, movement is provided about two separate parallel axes by two arms arranged perpendicular to the first axis which mounts the two major driving motors of the robot. These two arms are linked together between this major pedestal and the end effector of the robot, centralizing the driving motors at the main stabilizing pedestal, while providing rapid rotational movement around each of the two axes. The first axis is defined by the major pedestal, the second axis is defined by the junction between the inner and outer linking arms which connect the pedestal to the end effector.
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Allan Donald R.
Carlisle Brian R.
Meadows John W.
Witham Carl R.
Adept Technology Inc.
Spar Robert J.
Underwood Donald W.
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