PARALLEL LINK ROBOT ARM

Abstract: In a precision operable robot arm comprising four levers (11-14) pivotally connected with each other into a parallel arranged link form, when one ends of first and second levers aligned vertically, for example, are driven respectively by two motors (2, 3) such that the levers are swung around the alignment axis in a horizontal plane, for example, a work supporting device (16) provided at an outwardly extending end of the fourth lever (14) is also moved in a horizontal plane. A first pulley (8) is fixedly secured to a position aligning with the driving shafts (5, 6) of the two motors, while second and third pulleys (17, 18), which are integrally rotatable, are rotatably supported by a pivot pin (15) coupling the second and fourth levers, and fourth pulley (19) rotatably supported at the outer end of the fourth lever is fixed to the work supporting device. First and second belts (21, 22) are extended around the first pulley and the second pulley, and the third pulley and the fourth pulley, respectively, so that the work supporting device is held in the same posture regardless of the movement thereof int he plane.

Description: This invention relates to a prallel link robot arm adapted to transport works of comaratively light weight such as semiconductor wafers and IC's without changing posture. A construction for maintaining a work supporting device provided at an arm end in the same posture, during the arm rotation, has been disclosed in U.S. Patent No.-A-3 182 813, in which a chain wheel provided concentrically with the rotating axis of the arm is coupled by chain with the work supporting device provided at the end of the arm. However, the disclosed construction is operable for transporting works to specific positions along a semicircle by means of a single arm of a comparativly large size, and hence it is difficult to apply such a construction to a parallel link type robot arm which transports works to programmed positions in a plane at a high speed as in the case of securing IC's on, for instance, an IC board. Further, GB-A-2 060 556 discloses a robot arm of a parallel link type with a work supporting device provided at an end of the arm, the robot arm comprising: first and second driving shafts rotatably secured to a supporting member of the robot in an axial alignment; first and second levers each ends of which are fixedly connected to the first and second driving shafts respectively; a third lever one end of which is pivotally connected to the other end of said first lever a fourth lever one end of which is pivotally connected to the other end of said second lever while the other end of which is rotatably connected to said work supporting device a first pulley secured axially in alignment with said first and second driving shafts a second and third pulleys integrally connected to each other and freely rotatably around a pivot axis connected said second lever with said fourth lever a fourth pulley secured coaxially to said work supporting device a first belt extended to couple said first pulley with said second pulley and a second belt extended to couple said third pulley with said fourth pulley. SUMMARY OF THE INVENTION An object of the present invention is to provide a robot arm of a parallel link type which is simple in construction, and easy in maintenance and economical in production. Another object of the invention is to provide a robot arm of a parallel link type capable of transporting works such as IC to programmed positions in a plance at a high speed without changing the posture of the work supporting device. These and other objects can be achieved by a robot arm being characterized in said first pulley being fixedly secured to a pedestal affixed to said supporting member said second driving shaft passing through a hollow passage secured in said first pulley and said pedestal an intermediate portion of said fourth lever being pivotally connected with one part of said third lever said first, second, third and fourth pulleys being provided on one side with respect to said second lever and said fourth lever equal to the side where said first pulley is secured, said second driving shaft being extended through said first pulley toward said first driving shaft a bearing being secured to the thus extended end of said second driving shaft a bearing holder axially slidably along outside of said bearing being detachably secured to said first lever attached to said first driving shaft said first pulley being supported in a cantilever-like manner on one side of the pedestal facing said bearing holder. BRIEF DESCRIPTION OF THE DRAWINGS In the accompanying drawings: FIG. 1 is an elevational view, partly sectioned, of a robot arm not claimed in the present invention; but with a link formed arm according to the present invention. FIG. 2 is a diagram showing the construction of a link-formed arm of the embodiment of the invention in a plan view; and FIG. 3 is an elevational view, partly sectioned, of the embodiment of the invention. DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention will now be described in detail with reference to the accompanying drawings. In FIGS. 1 and 2, a first driving motor 2 and a second driving motor 3 secured to a supporting portion 1 of, for instance, solid wall or and effecter of the robot. A pedestal 4 is also secured to the supporting portion 1. A first driving shaft 5 and a second driving shaft 6 of the driving motors 2 and 3 are extended in alignment, and mutually onto the first lever 11 and second lever 12 opposing side of the driving shafts 5 and 6 are coupled together freely rotatably via a pin 7. Numeral 8 designates a first pulley fixedly supported on the pedestal 4 in alignment with the driving shafts 5 and 6, and numerals 9 and 10 designate speed reduction mechanisms each provided between the motor and the driving shaft. One end of a first lever 11 of the robot arm is secured to the first driving shaft 5, while one end of a second lever 12 of the robot arm is secured to the second driving shaft 6. The other end of the first lever 11 is pivotally connected with one end of a third lever 13, while the other end of the second lever 12 is connected via a pivot pin 15 to one end of a fourth lever 14. Intermediate portions of the third lever 13 and the fourth lever 14 are pivotally connect with each other so as to provide parallel links of the robot arm, and a work supporting device 16 is pivotally connected to the other end of the fourth lever 14. A second pulley 17 having a pitch circle diameter equal to that of the first pulley 8 is freely rotatably supported around the pivot pin 15 connecting the second lever 12 and the fourth lever 14. The third pulley 18 having a diameter equal to that of the second pulley 17 is formed integrally with the second pulley, and the thus obtained two-step formed pulley is supported by the pivot pin 15 rotatably. However it is apparent that these pulleys 17 and 18 may otherwise be constructed as separate pulleys which are secured to the pivot pin 15 fixedly. A fourth pulley 19 fixedly secured to the work supporting device 16 is rotatably supported by a pivot pin 20 which pivotally connects the device 16 to the other end of the fourth lever 14 as described before. A first belt 21 couples the first pulley 8 and the second pulley 17, while a second belt 22 couples the third pulley 18 and the fourth pulley 19. In the shown example, the diameters of the entire pulleys are selected to be equal, and the work supporting device 16 is provided with an actuater 30 having a piston rod reciprocable therein. A work holding device 31 having a number of sucking elements 32 is secured to an end of the piston rod for sucking and holding the work. Numeral 33 designates a teach lever formed by an extended portion of the third lever 13. By handling the teach lever 33, the work supporting device 16 can be moved manually, and programmed positions of the device 16 are thereby memorized in a computer. When one or both of the first and second levers 11 and 12 are moved upon energizing the first and/or second motors 2 and 3, the third lever 13 and the fourth lever 14 forming parallel links of the arm are moved, and the work supporting device 16 is thereby shifted through desired positions in a plane in accordance with a program stored in the computer. When the first lever 11 and the second lever 12 are both moved by the driving shafts 5 and 6 so as to move the work supporting device 16 as shown by one dot dash line in FIG. 2, the pivot pin 15 revolves around the center of the first pulley 8 and reaches to a position 15a. Since the first pulley 8 is fixed, the first belt 21 rotates the second pulley 17 in an arrow-marked direction. With the rotation of the second pulley 17, the fourth pulley 19 rotates in an arrow-marked direction via the third pulley 18 and the second belt 22. As a consequence, the work supporting device 16 secured to the fourth pulley 19 is rotated around the center of the pivot pin 20 so as to maintain a constant posture regardless of the movement of the work supporting device 16. In case that the first lever 11 only is swung and the second lever 12 is held in its original position, the first belt 21 is held unmoved. As a consequence, the second pulley 17 and the third pulley 18 are not rotated, while the second belt is shifted by the swinging movement of the fourth lever 14, and the fourth pulley 19 is thereby rotated. Although, in the shown example, the pitch circle diameters of all of the pulleys are selected to be equal, it is required that the diameters of the pulleys engaging with the same belt are made equal. Athough it is preferable to use timing belts in the shown construction, ordinary V. Belts may also be used when a precision operation is not required. FIG. 3 illustrates one embodiment of the invention wherein the first driving shaft 5 and the second driving shaft 6 are disposed in alignment and one of the driving shafts (driving shaft 6 in the shown example) is extended through the first pulley 8 upward. A bearing 23 is secured to the upper end of the driving shaft 6, while a bearing holder 24 is detachably secured to the lower side of the first lever 11 secured to the first driving shaft 5. The bearing 23 is inserted in an axially slidably into the bearing holder 24, while the first pulley 8 is supported on one side of the pedestal 4 facing the bearing holder 24. Furthermore, the second, third and fourth pulleys 17, 18 and 19 are supported on the upper side of the second lever 12 and the fourth lever 14 in a cantilever-like manner as in the previous embodiment. Accordingly, the first driving shaft 5 and the second driving shaft 6 as well as the first pulley 8 are held in alignment in far assured manner, so that the rigidity of the link system is improved. The precision alignment of the central axes enhances the smooth operation, when it is required to replace the belt, the bearing holder 24 is released from the first lever 11 in a manner sliding over the bearing 23, so that a gap is formed between the bearing holder 24 and the first lever 11, and the first belt 21 is replaced through the thus formed gap. The second belt is easily replaced through a gap, because the pulleys are supported in a cantilever-like manner on the upper side of the second and fourth levers 12 and 14. Since the invention is arranged as described above, the work supporting device is always maintained in a constant posture regardless of the movement of the robot arm, without the motor driving the work supporting device and its controller maintaining the constant posture of the work supporting device, by adding the pairs of the pulleys and belts to the parallel links and advantageous features such as simplifying the construction, reducing the weight and assuring smooth operation can be thereby realized. Furthermore, by arranging the first driving shaft and the second driving shaft in a lengthwisely spaced apart relationship, and by placing the first pulley supported in a cantilever-like manner in the space between the two driving shafts, the belts can be replaced easily in a short time. In a case where a bearing and a detachable bearing holder are provided at the opposing ends of the first and second driving shafts, the driving shafts are coupled with each other in alignment at higher precision and rigidity in coupling while allowing a simple replacement of belts as in the previous arrangement.

Claims: A robot arm of a parallel link type with a work supporting device provided at an end of the arm, the robot arm comprising: first and second driving shafts (5, 6) rotatably secured to a supporting member of the robot in an axial alignment; first and second levers (11, 12), each ends of which are fixedly connected to the first and second driving shafts (5, 6), respectively; a third lever (13), one end of which is pivotally connected to the other end of said first lever (11); a fourth lever (14), one end of which is pivotally connected to the other end of said second lever (12), while the other end of which is rotatably connected to said work supporting device (16); a first pulley (8) secured in axially alignment with said first and second driving shafts (5, 6); a second and third pulleys (17, 18) integrally connected to each other and freely rotatably around a pivot axis (15) connected said second lever (12) with said fourth lever (14); a fourth pulley (19) secured coaxially to said work supporting device (16); a first belt (21) extended to couple said first pulley (18) with said second pulley (17); and a second belt (22) extended to couple said third pulley (18) with said fourth pulley (19); characterized in, said first pulley (8) being fixedly secured to a pedestal (4) affixed to said supporting member (16) said second driving shaft (6) passing through a hollow passage secured in said first pulley (8) and said pedestal (4), an intermediate portion of said fourth lever (14) being pivotally connected with one part of said third lever (13); said first, second, third and fourth pulleys ( 8, 17, 18, 19) being provided on one side with respect to said second lever (12) and said fourth lever (14), equal to the side where said first pulley (8) is secured, said second driving shaft (6) being extended through said first pulley (8) toward said first driving shaft (5), a bearing (23) being secured to the thus extended end of said second driving shaft (6), a bearing holder (24) axially slidably along outside of said bearing being detachably secured to said first lever (11) attached to said first driving shaft (5), said first pulley (8) being supported in a cantilever-like manner on one side of the pedestal (4) facing said bearing holder (24). The robot arm according to claim 1 wherein said third lever (13) is extended in excess of said pivotal connection with the intermediate portion of said fourth lever (14), and said extended portion of said third lever (13) is used as a teach lever. The robot arm according to claim 1 wherein the pitch circle diameters of said first, second, third and fourth pulleys (8, 17, 18, 19) are made equal. The robot arm according to claim 1 wherein the pitch circle diameters of said first pulley (8) and said second pulley (17), as well as said third pulley (18) and said fourth pulley (19), which are coupled with each other by said first belt (21) and said second belt (22) are made equal, respectively.

Inventors: MATSUSHITA, SHIGEO, TONAI, SHUICHI
Applicants: KABUSHIKI KAISHA YASKAWA DENKI SEISAKUSHO
Application year: 1988
Main classification: B25J9
IPC codes: B25J9