Patent ID: 9409269
Filing Date: 2016-08-09
CPC Classification: B21B,B23Q,B25J,Y10S

Claim Text:
1. A positioning apparatus comprising: three robot arms each having an arm and an actuator which drives the arm, a mounting platform which is secured to ends of the three robot arms, a securing jig which secures a workpiece to the mounting platform, and a controller which controls the operation of the actuators; and the three robot arms each comprise: a first structural member which is rotatably connected to a base through a first actuator, a second structural member which is gyratory connected to the first structural member through a second actuator, a third structural member which is gyratory connected to the second structural member through a third actuator, and a connecting member which is secured to the mounting platform and is connected to the third structural member through at least one rotatable bearing; wherein a shape of the first and second structural members of one of the three robot arms is constituted so as to have a mirror shape relationship being reversed to a left and right with respect to a shape of the first and second structural member of each of the other two robot arms, and wherein the other two robot arms have a non-mirror shape relationship with each other; and further wherein during movement of the three robot arms with the mounting platform being secured to the ends of the three robot arms, the mirror shape relationships and non-mirror shape relationship are maintained.