US 2018/0126548 A1Published application

Arm structure and transferring apparatus

AssigneeKabushiki Kaisha Toshiba

InventorsRyuji SUGITO, Shin SAKAMOTO, Toshio MORITA

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Abstract

According to one embodiment, an arm structure includes a base, a first link, a second link, a connecting member, and a gravity compensation mechanism. The first and the second links are rotatable in a vertical direction. One end side of the first link is pivotally attached to the base via a first rotating shaft. One end side of the second link is pivotally attached to another end side of the first link via a second rotating shaft. A length of the first link is same as a length of the second link. The second link rotates around the second rotating shaft. A rotation angle of the second link is twice a rotation angle of the first link. A rotation direction of the second link is opposite to a rotation direction of the first link. The gravity compensation mechanism compensates for torque generated around the first rotating shaft by gravity.

Claims10

Dependent claims

An arm structure comprising:

a base;
a first link rotatable in a vertical direction, one end side of the first link being pivotally attached to the base via a first rotating shaft;
a second link rotatable in the vertical direction, one end side of the second link being pivotally attached to another end side of the first link via a second rotating shaft, a length of the first link being same as a length of the second link;
a connecting member connecting the first rotating shaft and the second rotating shaft, when the first link rotates around the first rotating shaft, the second link rotating around the second rotating shaft, a rotation angle of the second link being twice a rotation angle of the first link, a rotation direction of the second link being opposite to a rotation direction of the first link;
and
a gravity compensation mechanism connected to the base and the first link, the gravity compensation mechanism compensating for torque generated around the first rotating shaft by gravity.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/807,786Filed 9 Nov 2017
Priority: JP 2016-2188179 Nov 2016
Published: 10 May 2018
Term ends: Not estimatedThe source records don’t support an estimate.

Classification10 codes

B25J 9/104
Characterised by positioning means for manipulator elements: with cables, chains or ribbons
B25J 5/007
Manipulators mounted on wheels or on carriages: mounted on wheels
B25J 9/046
By rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type: revolute coordinate type
B25J 19/0008
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection…