Patent ID: 6705177
Filing Date: 2004-03-16
Classification: B25J,H01L,Y10T

Abstract:
A robot arm mechanism comprising:a plurality of handling members for supporting and handling an object, the plurality of handling members comprising a first handling member and a second handling member, a robot arm connected to the handling members, the robot arm comprising a first arm link having first and second end portions and a first pivotable joint portion between the first and second end portions of the first arm link, a second arm link having first and second end portions and a first pivotable joint portion between the first and second end portions of the second arm link, the first and second arm links respectively rotatable around a rotation axis, a link retaining mechanism for retaining attitudes of the first and second handling members, a link operating mechanism for operating the link retaining mechanism according to a rotation angle between the first and second arm links, the link operating mechanism comprising a lever member pivotably connected with the link retaining mechanism, the lever member comprising a crank and a coupling link respectively having first and second end portions, the crank pivotably connected at the first end of the crank with one of the first and second arm links, the crank integrally connected to the coupling link, the link operating mechanism further comprising a connecting link having first and second end portions, the connecting link pivotably connected at the first end portion of the connecting link to the other of the first and second arm links, the connecting link and the coupling link pivotably connected with each other at the second end portion of the connecting link and the second end portion of the coupling link, a robot arm driving mechanism for driving the robot arm, the robot arm driving mechanism comprising a first driving shaft and a second driving shaft.