Patent ID: 9625581
Date: 2017-04-18
CPC Classifications: A61B,A61N,B25J,B29C,B33Y,G01B,G01S

Claim:
1. A three-dimensional (3D) emitting apparatus comprising: a table on which an object is to be disposed; a robot arm disposed above or below the table to perform a task on the object; an emitting member provided at an end portion of the robot arm; and a controller to control an operation of the robot arm or a position of the emitting member, wherein the table and the robot arm move relatively in a vertical or horizontal direction to move the object to a target point, the emitting member moves along a trajectory of rotation of the robot arm, and the trajectory of rotation is provided in a form of a concentric sphere having a center at which the target point is disposed, wherein the robot arm comprises a plurality of link members and a plurality of drive members, each drive member arranged to transmit a torque to a respective one of the link members, wherein the link members are disposed on concentric spheres having an identical center disposed at the target point and spaced apart from each other radially on the concentric spheres, wherein a plurality of robot arms is provided, the plurality of robot arms rotate independently and incoherently relative to one other, wherein a plurality of link members included in robot arms disposed far away from the target point, among the plurality of robot arms, is disposed on a greater concentric sphere than a plurality of link members included in robot arms disposed close to the target point, among the plurality of robot arms, such that collisions among the plurality of robot arms are prevented during concurrent rotations, wherein a plurality of emitting members corresponding to a number of the robot arms are provided, the plurality of emitting members aims at the target point in a contactless manner, and the plurality of emitting members moves on different spheres along trajectories of rotation of the plurality of robot arms, and wherein angle adjustment elements are provided at the plurality of emitting members or end portions of the plurality of robot arms to adjust angles at which the plurality of emitting members face the target point.