Patent ID: 6558107
Filing Date: 2003-05-06
Classification: B25J,Y10S,Y10T

Abstract:
A robot arm mechanism comprising:a handling member for supporting and handling an object; a robot arm connected to the handling member, the robot arm comprising a first arm link having first and second end portion, a second arm link having first and second end portion, and a link retaining mechanism having a center line, the link retaining mechanism pivotably retaining the first and second arm links respectively at the first end portions of the first and second arm links and keeping parallel a first line and a second line, the first line being a line passing through the first and second end portions of the first arm link and the second line being a line symmetrical with respect to the center line with the line passing through the first and second end portions of the second arm link, the link retaining mechanism comprising a first joint cross linkage including a first short link having first and second end portions, a first long link having first and second end portions and longer than the first short link of the first joint cross linkage of the link retaining mechanism, the first short and long links of the first joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the first short link of the first joint cross linkage of the link retaining mechanism and the first end portion of the first long link of the first joint cross linkage of the link retaining mechanism, a second short link having first and second end portions and substantially equal in length to the first short link of the first joint cross linkage of the link retaining mechanism, the first long link of the first joint cross linkage of the link retaining mechanism and the second short link of the first joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the first long link of the first joint cross linkage of the link retaining mechanism and the first end portion of the second short link of the first joint cross linkage of the link retaining mechanism, and a second long link having first and second end portions and substantially equal in length to the first long link of the first joint cross linkage of the link retaining mechanism, the second short and long links of the first joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the second short link of the first joint cross linkage of the link retaining mechanism and the first end portion of the second long link of the first joint cross linkage of the link retaining mechanism, the second long link of the first joint cross linkage of the link retaining mechanism and the first short link of the first joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the second long link of the first joint cross linkage of the link retaining mechanism and the first end portion of the first short link of the first joint cross linkage of the link retaining mechanism under the state that the second long link of the first joint cross linkage of the link retaining mechanism is crossed with the first long link of the first joint cross linkage of the link retaining mechanism, and a second joint cross linkage including a first short link having first and second end portions, a first long link having first and second end portions and longer than the first short link of the second joint cross linkage of the link retaining mechanism, the first short and long links of the second joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the first short link of the second joint cross linkage of the link retaining mechanism and the first end portion of the first long link of the second joint cross linkage of the link retaining mechanism, a second short link having first and second end portions and substantially equal in length to the first short link of the second joint cross linkage of the link retaining mechanism, the first long link of the second joint cross linkage of the link retaining mechanism and the second short link of the second joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the first long link of the second joint cross linkage of the link retaining mechanism and the first end portion of the second short link of the second joint cross linkage of the link retaining mechanism, and a second long link having first and second end portions and substantially equal in length to the first long link of the second joint cross linkage of the link retaining mechanism, the second short and long links of the second joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the second short link of the second joint cross linkage of the link retaining mechanism and the first end portion of the second long link of the second joint cross linkage of the link retaining mechanism, the second long link of the second joint cross linkage of the link retaining mechanism and the first short link of the second joint cross linkage of the link retaining mechanism pivotably connected with each other at the second end portion of the second long link of the second joint cross linkage of the link retaining mechanism and the first end portion of the first short link of the second joint cross linkage of the link retaining mechanism under the state that the second long link of the second joint cross linkage of the link retaining mechanism is crossed with the first long link of the second joint cross linkage of the link retaining mechanism, the length ratio of each of the first and second short links of the first joint cross linkage of the link retaining mechanism to each of the first and second long links of the first joint cross linkage of the link retaining mechanism substantially equal to the length ratio of each of the first and second short links of the second joint cross linkage of the link retaining mechanism to each of the first and second long links of the second joint cross linkage of the link retaining mechanism, the first short link of the first joint cross linkage of the link retaining mechanism integrally formed with and in axial alignment with the first long link of the second joint cross linkage of the link retaining mechanism under the state that the second end portion of the first short link of the first joint cross linkage of the link retaining mechanism is connected with the first end portion of the first long link of the second joint cross linkage of the link retaining mechanism, the first long link of the first joint cross linkage of the link retaining mechanism integrally formed with and in axial alignment with the first short link of the second joint cross linkage of the link retaining mechanism under the state that the first end portion of the first long link of the first joint cross linkage of the link retaining mechanism is connected with the second end portion of the first short link of the second joint cross linkage of the link retaining mechanism, the first end portion of any one of the first and second arm links integrally formed with the second short link of the first joint cross linkage of the link retaining mechanism, the first end portion of the other one of the first and second arm links integrally formed with the second long link of the second joint cross linkage of the link retaining mechanism; and a robot arm driving mechanism for driving the robot arm.